Steerable laser probe

ABSTRACT

A steerable laser probe may include a handle, an actuation structure, an optic fiber, and a housing tube. The housing tube may include a first housing tube portion having a first stiffness and a second housing tube portion having a second stiffness. The second stiffness may be greater than the first stiffness. The optic fiber may be disposed within the housing tube and within an inner bore of the handle. A compression of the actuation structure may be configured to gradually curve the optic fiber. A decompression of the actuation structure may be configured to gradually straighten the optic fiber.

CROSS-REFERENCE TO RELATED APPLICATIONS

This Application is a continuation of prior application Ser. No.13/626,820, filed Sep. 25, 2012.

FIELD OF THE INVENTION

The present disclosure relates to a surgical instrument, and, moreparticularly, to a steerable laser probe.

BACKGROUND OF THE INVENTION

A wide variety of ophthalmic procedures require a laser energy source.For example, ophthalmic surgeons may use laser photocoagulation to treatproliferative retinopathy. Proliferative retinopathy is a conditioncharacterized by the development of abnormal blood vessels in the retinathat grow into the vitreous humor. Ophthalmic surgeons may treat thiscondition by energizing a laser to cauterize portions of the retina toprevent the abnormal blood vessels from growing and hemorrhaging.

In order to increase the chances of a successful laser photocoagulationprocedure, it is important that a surgeon is able aim the laser at aplurality of targets within the eye, e.g., by guiding or moving thelaser from a first target to a second target within the eye. It is alsoimportant that the surgeon is able to easily control a movement of thelaser. For example, the surgeon must be able to easily direct a laserbeam by steering the beam to a first position aimed at a first target,guide the laser beam from the first position to a second position aimedat a second target, and hold the laser beam in the second position.Accordingly, there is a need for a surgical laser probe that can beeasily guided to a plurality of targets within the eye.

BRIEF SUMMARY OF THE INVENTION

The present disclosure provides a steerable laser probe. In one or moreembodiments, a steerable laser probe may comprise a handle, an actuationstructure, an optic fiber, and a housing tube. Illustratively, thehousing tube may comprise a first housing tube portion having a firststiffness and a second housing tube portion having a second stiffness.In one or more embodiments, the second stiffness may be greater than thefirst stiffness. Illustratively, the optic fiber may be disposed withinthe housing tube and within an inner bore of the handle. In one or moreembodiments, a portion of the optic fiber may be fixed to an innerportion of the housing tube, e.g., by a biocompatible adhesive or anyother suitable means.

Illustratively, a compression of the actuation structure may beconfigured to extend the housing tube relative to a handle proximal end.In one or more embodiments, an extension of the housing tube relative tothe handle proximal end may be configured to gradually compress thefirst housing tube portion causing the housing tube to gradually curve.Illustratively, a gradual curving of the housing tube may be configuredto cause the optic fiber to gradually curve.

In one or more embodiments, a decompression of the actuation structuremay be configured to retract the housing tube relative to the handleproximal end. Illustratively, a retraction of the housing tube relativeto the handle proximal end may be configured to gradually decompress thefirst housing tube portion causing the housing tube to graduallystraighten. In one or more embodiments, a gradual straightening of thehousing tube may be configured to cause the optic fiber to graduallystraighten.

BRIEF DESCRIPTION OF THE DRAWINGS

The above and further advantages of the present invention may be betterunderstood by referring to the following description in conjunction withthe accompanying drawings in which like reference numerals indicateidentical or functionally similar elements:

FIGS. 1A and 1B are schematic diagrams illustrating a handle;

FIGS. 2A, 2B, and 2C are schematic diagrams illustrating a housing tube;

FIG. 3 is a schematic diagram illustrating an exploded view of asteerable laser probe assembly;

FIGS. 4A, 4B, 4C, 4D, and 4E illustrate a gradual curving of an opticfiber;

FIGS. 5A, 5B, 5C, 5D, and 5E illustrate a gradual straightening of anoptic fiber;

FIGS. 6A and 6B are schematic diagrams illustrating a handle;

FIGS. 7A, 7B, and 7C are schematic diagrams illustrating a housing tube;

FIG. 8 is a schematic diagram illustrating an exploded view of asteerable laser probe assembly;

FIGS. 9A, 9B, 9C, 9D, and 9E illustrate a gradual curving of an opticfiber;

FIGS. 10A, 10B, 10C, 10D, and 10E illustrate a gradual straightening ofan optic fiber;

FIGS. 11A and 11B are schematic diagrams illustrating a handle;

FIG. 12 is a schematic diagram illustrating an exploded view of asteerable laser probe assembly;

FIGS. 13A, 13B, 13C, 13D, and 13E illustrate a gradual curving of anoptic fiber;

FIGS. 14A, 14B, 14C, 14D, and 14E illustrate a gradual straightening ofan optic fiber.

DETAILED DESCRIPTION OF AN ILLUSTRATIVE EMBODIMENT

FIGS. 1A and 1B are schematic diagrams illustrating a handle 100. FIG.1A illustrates a top view of handle 100. In one or more embodiments,handle 100 may comprise a handle distal end 101, a handle proximal end102, a handle base 110, and an actuation structure 120. Illustratively,actuation structure 120 may comprise an actuation structure distal end121 and an actuation structure proximal end 122. In one or moreembodiments, actuation structure 120 may comprise a plurality ofactuation arms 125. Illustratively, each actuation arm 125 may compriseat least one extension mechanism 126. In one or more embodiments,actuation structure 120 may comprise a shape memory material configuredto project actuation structure distal end 121 a first distance fromactuation structure proximal end 122, e.g., when actuation structure 120is fully decompressed. Illustratively, actuation structure 120 maycomprise a shape memory material configured to project actuationstructure distal end 121 a second distance from actuation structureproximal end 122, e.g., when actuation structure 120 is fullycompressed. In one or more embodiments, the second distance fromactuation structure proximal end 122 may be greater than the firstdistance from actuation structure proximal end 122. Actuation structure120 may be manufactured from any suitable material, e.g., polymers,metals, metal alloys, etc., or from any combination of suitablematerials.

Illustratively, actuation structure 120 may be compressed by anapplication of a compressive force to actuation structure 120. In one ormore embodiments, actuation structure 120 may be compressed by anapplication of one or more compressive forces located at one or morelocations around an outer perimeter of actuation structure 120.Illustratively, the one or more locations may comprise any of aplurality of locations around the outer perimeter of actuation structure120. For example, a surgeon may compress actuation structure 120 bysqueezing actuation structure 120. Illustratively, the surgeon maycompress actuation structure 120 by squeezing actuation structure 120 atany particular location of a plurality of locations around an outerperimeter of actuation structure 120. For example, a surgeon may rotatehandle 100 and compress actuation structure 120 from any rotationalposition of a plurality of rotational positions of handle 100.

In one or more embodiments, actuation structure 120 may be compressed byan application of a compressive force to any one or more of theplurality of actuation arms 125. Illustratively, each actuation arm 125may be configured to actuate independently. In one or more embodiments,each actuation arm 125 may be connected to one or more of the pluralityof actuation arms 125 wherein an actuation of a particular actuation arm125 may be configured to actuate every actuation arm 125 of theplurality of actuation arms 125. Illustratively, one or more actuationarms 125 may be configured to actuate in pairs or groups. For example,an actuation of a first actuation arm 125 may be configured to actuate asecond actuation arm 125.

In one or more embodiments, a compression of actuation structure 120,e.g., due to an application of a compressive force to a particularactuation arm 125, may be configured to actuate the particular actuationarm 125. Illustratively, an actuation of the particular actuation arm125 may be configured to actuate every actuation arm 125 of theplurality of actuation arms 125. In one or more embodiments, anapplication of a compressive force to a particular actuation arm 125 maybe configured to extend at least one extension mechanism 126 of theparticular actuation arm 125. Illustratively, a particular actuation arm125 may be configured to extend a first length from handle base 110. Anextension of an extension mechanism 126 of the particular actuation arm125, e.g., due to an application of a compressive force to theparticular actuation arm 125, may be configured to extend the particularactuation arm 125 a second length from handle base 110. Illustratively,the second length from handle base 110 may be greater than the firstlength from handle base 110.

In one or more embodiments, handle 100 may comprise an actuation ring130 fixed to actuation structure distal end 121. Illustratively, acompression of actuation structure 120 may be configured to graduallyextend actuation ring 130 from handle base 110. For example, actuationring 130 may be configured to extend a first distance from actuationstructure proximal end 122, e.g., when actuation structure 120 is fullydecompressed. Actuation ring 130 may be configured to extend a seconddistance from actuation structure proximal end 122, e.g., due to acompression of actuation structure 120. Illustratively, the seconddistance from actuation structure proximal end 122 may be greater thanthe first distance from actuation structure proximal end 122.

FIG. 1B illustrates a cross-sectional view of handle 100. In one or moreembodiments, handle 100 may comprise an inner bore 140, an inner boreproximal taper 150, a piston tube housing 160, and a fixation pinhousing 170. Handle 100 may be manufactured from any suitable material,e.g., polymers, metals, metal alloys, etc., or from any combination ofsuitable materials.

FIGS. 2A, 2B, and 2C are schematic diagrams illustrating a housing tube200. In one or more embodiments, housing tube 200 may comprise a housingtube distal end 201 and a housing tube proximal end 202. Housing tube200 may be manufactured from any suitable material, e.g., polymers,metals, metal alloys, etc., or from any combination of suitablematerials. FIG. 2A illustrates a housing tube 200 oriented to illustratea first housing tube portion 220. Illustratively, first housing tubeportion 220 may have a first stiffness. FIG. 2B illustrates a housingtube 200 oriented to illustrate a second housing tube portion 230.Illustratively, second housing tube portion 230 may have a secondstiffness. In one or more embodiments, the second stiffness may begreater than the first stiffness. Illustratively, first housing tubeportion 220 may comprise a first material having a first stiffness. Inone or more embodiments, second housing tube portion 230 may comprise asecond material having a second stiffness. Illustratively, the secondstiffness may be greater than the first stiffness.

In one or more embodiments, first housing tube portion 220 may compriseone or more apertures configured to produce a first stiffness of firsthousing tube portion 220. Illustratively, second housing tube portion230 may comprise a solid portion of housing tube 200 having a secondstiffness. In one or more embodiments, the second stiffness may begreater than the first stiffness. Illustratively, first housing tubeportion 220 may comprise one or more apertures configured to produce afirst stiffness of first housing tube portion 220. In one or moreembodiments, second housing tube portion 230 may comprise one or moreapertures configured to produce a second stiffness of second housingtube portion 230. Illustratively, the second stiffness may be greaterthan the first stiffness.

In one or more embodiments, first housing tube portion 220 may comprisea plurality of slits configured to separate one or more solid portionsof housing tube 200. Illustratively, a plurality of slits may be cut,e.g., laser cut, into first housing tube portion 220. In one or moreembodiments, first housing tube portion 220 may comprise a plurality ofslits configured to minimize a force of friction between housing tube200 and a cannula, e.g., as housing tube 200 is inserted into thecannula or as housing tube 200 is extracted from the cannula. Forexample, each slit of the plurality of slits may comprise one or morearches configured to minimize a force of friction between housing tube200 and a cannula.

FIG. 2C illustrates an angled view of housing tube 200. Illustratively,an optic fiber 250 may be disposed within housing tube 200. In one ormore embodiments, optic fiber 250 may be disposed within housing tube200 wherein an optic fiber distal end 251 may be adjacent to housingtube distal end 201. Illustratively, optic fiber 250 may be disposedwithin housing tube 200 wherein a portion of optic fiber 250 may beadjacent to a portion of first housing tube portion 220. In one or moreembodiments, a portion of optic fiber 250 may be fixed to an innerportion of housing tube 200, e.g., by a biocompatible adhesive or anyother suitable means.

FIG. 3 is a schematic diagram illustrating an exploded view of asteerable laser probe assembly 300. In one or more embodiments,steerable laser probe assembly 300 may comprise a handle 100, a housingtube 200 having a housing tube distal end 201 and a housing tubeproximal end 202, an optic fiber 250 having an optic fiber distal end251 and an optic fiber proximal end 252, a fixation pin 310, a fixationmechanism 320, a piston tube 330 having a piston tube distal end 331 anda piston tube proximal end 332, an outer nosecone 340 having an outernosecone distal end 341 and an outer nosecone proximal end 342, an innernosecone 350 having an inner nosecone distal end 351 and an innernosecone proximal end 352, and a light source interface 370.Illustratively, light source interface 370 may be configured tointerface with optic fiber proximal end 252. In one or more embodiments,light source interface 370 may comprise a standard light sourceconnecter, e.g., an SMA connector.

Illustratively, piston tube distal end 331 may be fixed to innernosecone proximal end 352; housing tube proximal end 202 may be fixed toinner nosecone distal end 351; and outer nosecone 340 may be fixed toactuation structure 120, e.g., outer nosecone proximal end 342 may befixed to actuation ring 130. In one or more embodiments, fixationmechanism 320 may be configured to attach outer nosecone 340 and innernosecone 350, e.g., outer nosecone distal end 341 may be fixed to innernosecone proximal end 352. Illustratively, fixation mechanism 320 maycomprise a set screw configured to firmly attach outer nosecone 340 andinner nosecone 350. In one or more embodiments, fixation mechanism 320may comprise an adhesive material configured to attach outer nosecone340 and inner nosecone 350, or fixation mechanism 320 may comprise oneor more magnets configured to attach outer nosecone 340 and innernosecone 350. Piston tube 330, outer nosecone 340, and inner nosecone350 may be manufactured from any suitable material, e.g., polymers,metals, metal alloys, etc., or from any combination of suitablematerials. Illustratively, piston tube 330 and inner nosecone 350 may bemanufactured as a unit. In one or more embodiments, outer nosecone 340and inner nosecone 350 may be manufactured as a unit. For example,piston tube 330, outer nosecone 340, and inner nosecone 350 may bemanufactured as a unit.

In one or more embodiments, fixation pin 310 may be disposed withinfixation pin housing 170. Illustratively, optic fiber 250 may bedisposed within inner bore 140, fixation pin housing 170, piston tubehousing 160, piston tube 330, outer nosecone 340, inner nosecone 350,and housing tube 200. In one or more embodiments, fixation pin 310 maybe configured to fix optic fiber 250 in a position relative to handle100, e.g., at fixation pin housing 170. Illustratively, optic fiber 250may be disposed within housing tube 200 wherein optic fiber distal end251 may be adjacent to housing tube distal end 201. In one or moreembodiments, optic fiber 250 may be disposed within housing tube 200wherein optic fiber 250 may be adjacent to a first housing tube portion220. Illustratively, a portion of optic fiber 250 may be fixed to aninner portion of housing tube 200, e.g., by a biocompatible adhesive orany other suitable fixation means.

In one or more embodiments, a compression of actuation structure 120 maybe configured to gradually extend actuation ring 130, piston tube 330,outer nosecone 340, inner nosecone 350, and housing tube 200 relative tohandle base 110. Illustratively, optic fiber 250 may be both fixed in aposition relative to handle base 110, e.g., by fixation pin 310, andfixed to an inner portion of housing tube 200. In one or moreembodiments, as housing tube 200 is extended relative to handle base110, e.g., due to a compression of actuation structure 120, optic fiber250 may be configured to resist a portion of housing tube 200, e.g., afirst housing tube portion 220, from extending relative to handle base110. Illustratively, as housing tube 200 is gradually extended relativeto handle base 110, optic fiber 250 may be configured to graduallycompress a first housing tube portion 220 of housing tube 200 causinghousing tube 200 to gradually curve. In one or more embodiments, agradual curving of housing tube 200 may be configured to gradually curveoptic fiber 250.

Illustratively, a decompression of actuation structure 120 may beconfigured to gradually retract actuation ring 130, piston tube 330,outer nosecone 340, inner nosecone 350, and housing tube 200 relative tohandle base 110. In one or more embodiments, as housing tube 200 isgradually retracted relative to handle base 110, optic fiber 250 may beconfigured to gradually decompress a first housing tube portion 220 ofhousing tube 200 causing housing tube 200 to gradually straighten. Forexample, a decompression of actuation structure 120 may be configured toreduce a compressive force applied, e.g., by optic fiber 250, to aninner portion of housing tube 200 causing housing tube 200 to graduallystraighten. Illustratively, a gradual straightening of housing tube 200may be configured to gradually straighten optic fiber 250.

FIGS. 4A, 4B, 4C, 4D, and 4E illustrate a gradual curving of an opticfiber 250. FIG. 4A illustrates a straight optic fiber 400. In one ormore embodiments, optic fiber 250 may comprise a straight optic fiber400, e.g., when actuation ring 130 is fully retracted relative to handlebase 110. Illustratively, optic fiber 250 may comprise a straight opticfiber 400, e.g., when actuation structure 120 is fully decompressed. Inone or more embodiments, optic fiber 250 may comprise a straight opticfiber 400, e.g., when housing tube 200 is fully retracted relative tohandle base 110. Illustratively, a line tangent to optic fiber distalend 251 may be parallel to a line tangent to housing tube proximal end202, e.g., when optic fiber 250 comprises a straight optic fiber 400.

FIG. 4B illustrates an optic fiber in a first curved position 410. Inone or more embodiments, a compression of a fully decompressed actuationstructure 120 may be configured to gradually curve optic fiber 250 froma straight optic fiber 400 to an optic fiber in a first curved position410. Illustratively, a compression of actuation structure 120 may beconfigured to gradually extend housing tube 200 relative to handle base110. In one or more embodiments, a gradual extension of housing tube 200relative to handle base 110 may be configured to cause optic fiber 250to provide a compressive force to an inner portion of housing tube 200.For example, optic fiber 250 may be configured to provide a compressiveforce configured to oppose an extension of an inner portion of housingtube 200.

Illustratively, an application of a compressive force to an innerportion of housing tube 200, e.g., by extending housing tube 200relative to handle base 110, may be configured to compress a firsthousing tube portion 220 of housing tube 200. For example, optic fiber250 may be fixed in a position relative to handle base 110 and fixed toan inner portion of housing tube 200. In one or more embodiments, ashousing tube 200 is gradually extended relative to handle base 110,optic fiber 250 may be configured to resist an inner portion of housingtube 200 from being extended relative to handle base 110 causing theinner portion of housing tube 200 to gradually be compressed.Illustratively, an application of a compressive force to an innerportion of housing tube 200 may be configured to gradually curve housingtube 200. In one or more embodiments, a gradual curving of housing tube200 may be configured to gradually curve optic fiber 250 from a straightoptic fiber 400 to an optic fiber in a first curved position 410.

Illustratively, a line tangent to optic fiber distal end 251 mayintersect a line tangent to housing tube proximal end 202 at a firstangle, e.g., when optic fiber 250 comprises an optic fiber in a firstcurved position 410. In one or more embodiments, the first angle maycomprise any angle greater than zero degrees. For example, the firstangle may comprise a 45 degree angle.

FIG. 4C illustrates an optic fiber in a second curved position 420. Inone or more embodiments, a compression of actuation structure 120 may beconfigured to gradually curve optic fiber 250 from an optic fiber in afirst curved position 410 to an optic fiber in a second curved position420. Illustratively, a compression of actuation structure 120 may beconfigured to gradually extend housing tube 200 relative to handle base110. In one or more embodiments, a gradual extension of housing tube 200relative to handle base 110 may be configured to cause optic fiber 250to provide a compressive force to an inner portion of housing tube 200.For example, optic fiber 250 may be configured to provide a compressiveforce configured to oppose an extension of an inner portion of housingtube 200.

Illustratively, an application of a compressive force to an innerportion of housing tube 200, e.g., by extending housing tube 200relative to handle base 110, may be configured to compress a firsthousing tube portion 220 of housing tube 200. For example, optic fiber250 may be fixed in a position relative to handle base 110 and fixed toan inner portion of housing tube 200. In one or more embodiments, ashousing tube 200 is gradually extended relative to handle base 110,optic fiber 250 may be configured to resist an inner portion of housingtube 200 from being extended relative to handle base 110 causing theinner portion of housing tube 200 to gradually be compressed.Illustratively, an application of a compressive force to an innerportion of housing tube 200 may be configured to gradually curve housingtube 200. In one or more embodiments, a gradual curving of housing tube200 may be configured to gradually curve optic fiber 250 from an opticfiber in a first curved position 410 to an optic fiber in a secondcurved position 420.

Illustratively, a line tangent to optic fiber distal end 251 mayintersect a line tangent to housing tube proximal end 202 at a secondangle, e.g., when optic fiber 250 comprises an optic fiber in a secondcurved position 420. In one or more embodiments, the second angle maycomprise any angle greater than the first angle. For example, the secondangle may comprise a 90 degree angle.

FIG. 4D illustrates an optic fiber in a third curved position 430. Inone or more embodiments, a compression of actuation structure 120 may beconfigured to gradually curve optic fiber 250 from an optic fiber in asecond curved position 420 to an optic fiber in a third curved position430. Illustratively, a compression of actuation structure 120 may beconfigured to gradually extend housing tube 200 relative to handle base110. In one or more embodiments, a gradual extension of housing tube 200relative to handle base 110 may be configured to cause optic fiber 250to provide a compressive force to an inner portion of housing tube 200.For example, optic fiber 250 may be configured to provide a compressiveforce configured to oppose an extension of an inner portion of housingtube 200.

Illustratively, an application of a compressive force to an innerportion of housing tube 200, e.g., by extending housing tube 200relative to handle base 110, may be configured to compress a firsthousing tube portion 220 of housing tube 200. For example, optic fiber250 may be fixed in a position relative to handle base 110 and fixed toan inner portion of housing tube 200. In one or more embodiments, ashousing tube 200 is gradually extended relative to handle base 110,optic fiber 250 may be configured to resist an inner portion of housingtube 200 from being extended relative to handle base 110 causing theinner portion of housing tube 200 to gradually be compressed.Illustratively, an application of a compressive force to an innerportion of housing tube 200 may be configured to gradually curve housingtube 200. In one or more embodiments, a gradual curving of housing tube200 may be configured to gradually curve optic fiber 250 from an opticfiber in a second curved position 420 to an optic fiber in a thirdcurved position 430.

Illustratively, a line tangent to optic fiber distal end 251 mayintersect a line tangent to housing tube proximal end 202 at a thirdangle, e.g., when optic fiber 250 comprises an optic fiber in a thirdcurved position 430. In one or more embodiments, the third angle maycomprise any angle greater than the second angle. For example, the thirdangle may comprise a 135 degree angle.

FIG. 4E illustrates an optic fiber in a fourth curved position 440. Inone or more embodiments, a compression of actuation structure 120 may beconfigured to gradually curve optic fiber 250 from an optic fiber in athird curved position 430 to an optic fiber in a fourth curved position440. Illustratively, a compression of actuation structure 120 may beconfigured to gradually extend housing tube 200 relative to handle base110. In one or more embodiments, a gradual extension of housing tube 200relative to handle base 110 may be configured to cause optic fiber 250to provide a compressive force to an inner portion of housing tube 200.For example, optic fiber 250 may be configured to provide a compressiveforce configured to oppose an extension of an inner portion of housingtube 200.

Illustratively, an application of a compressive force to an innerportion of housing tube 200, e.g., by extending housing tube 200relative to handle base 110, may be configured to compress a firsthousing tube portion 220 of housing tube 200. For example, optic fiber250 may be fixed in a position relative to handle base 110 and fixed toan inner portion of housing tube 200. In one or more embodiments, ashousing tube 200 is gradually extended relative to handle base 110,optic fiber 250 may be configured to resist an inner portion of housingtube 200 from being extended relative to handle base 110 causing theinner portion of housing tube 200 to gradually be compressed.Illustratively, an application of a compressive force to an innerportion of housing tube 200 may be configured to gradually curve housingtube 200. In one or more embodiments, a gradual curving of housing tube200 may be configured to gradually curve optic fiber 250 from an opticfiber in a third curved position 430 to an optic fiber in a forth curvedposition 440. Illustratively, a line tangent to optic fiber distal end251 may be parallel to a line tangent to housing tube proximal end 202,e.g., when optic fiber 250 comprises an optic fiber in a fourth curvedposition 440.

In one or more embodiments, one or more properties of a steerable laserprobe may be adjusted to attain one or more desired steerable laserprobe features. For example, a length that housing tube 200 extends frominner nosecone distal end 351 may be adjusted to vary an amount ofcompression of actuation structure 120 configured to curve housing tube200 to a particular curved position. Illustratively, a position offixation pin 310 or a length of optic fiber 250 extending distally froma position of fixation pin 310 may be adjusted to vary an amount ofcompression of actuation structure 120 configured to curve housing tube200 to a particular curved position. In one or more embodiments, astiffness of first housing tube portion 220 or a stiffness of secondhousing tube portion 230 may be adjusted to vary an amount ofcompression of actuation structure 120 configured to curve housing tube200 to a particular curved position. Illustratively, a materialcomprising first housing tube portion 220 or a material comprisingsecond housing tube portion 230 may be adjusted to vary an amount ofcompression of actuation structure 120 configured to curve housing tube200 to a particular curved position.

In one or more embodiments, a number of apertures in housing tube 200may be adjusted to vary an amount of compression of actuation structure120 configured to curve housing tube 200 to a particular curvedposition. Illustratively, a location of one or more apertures in housingtube 200 may be adjusted to vary an amount of compression of actuationstructure 120 configured to curve housing tube 200 to a particularcurved position. In one or more embodiments, a geometry of one or moreapertures in housing tube 200 may be adjusted to vary an amount ofcompression of action structure 120 configured to curve housing tube 200to a particular curved position. Illustratively, a geometry of one ormore apertures in housing tube 200 may be uniform, e.g., each apertureof the one or more apertures may have a same geometry. In one or moreembodiments, a geometry of one or more apertures in housing tube 200 maybe non-uniform, e.g., a first aperture in housing tube 200 may have afirst geometry and a second aperture in housing tube 200 may have asecond geometry.

Illustratively, a distance that inner nosecone 350 extends from outernosecone distal end 341 may be adjusted to vary an amount of compressionof actuation structure 120 configured to curve housing tube 200 to aparticular curved position. In one or more embodiments, a geometry ofactuation structure 120 may be adjusted to vary an amount of compressionof actuation structure 120 configured to curve housing tube 200 to aparticular curved position. Illustratively, one or more locations withinhousing tube 200 wherein optic fiber 250 may be fixed to an innerportion of housing tube 200 may be adjusted to vary an amount ofcompression of actuation structure 120 configured to curve housing tube200 to a particular curved position. In one or more embodiments, atleast a portion of optic fiber 250 may be enclosed in an optic fibersleeve configured to, e.g., protect optic fiber 250, vary a stiffness ofoptic fiber 250, vary an optical property of optic fiber 250, etc. Forexample, a portion of optic fiber 250 that may be fixed in a positionrelative to handle 100, e.g., by fixation pin 310, may be enclosed in anoptic fiber sleeve configured to, e.g., protect optic fiber 250,facilitate a fixation, etc.

Illustratively, a stiffness of first housing tube portion 220 or astiffness of second housing tube portion 230 may be adjusted to vary abend radius of housing tube 200. In one or more embodiments, a stiffnessof first housing tube portion 220 or a stiffness of second housing tubeportion 230 may be adjusted to vary a radius of curvature of housingtube 200, e.g., when housing tube 200 is in a particular curvedposition. Illustratively, a number of apertures in housing tube 200 maybe adjusted to vary a bend radius of housing tube 200. In one or moreembodiments, a number of apertures in housing tube 200 may be adjustedto vary a radius of curvature of housing tube 200, e.g., when housingtube 200 is in a particular curved position. Illustratively, a locationor a geometry of one or more apertures in housing tube 200 may beadjusted to vary a bend radius of housing tube 200. In one or moreembodiments, a location or a geometry of one or more apertures inhousing tube 200 may be adjusted to vary a radius of curvature ofhousing tube 200, e.g., when housing tube 200 is in a particular curvedposition.

FIGS. 5A, 5B, 5C, 5D, and 5E illustrate a gradual straightening of anoptic fiber 250. FIG. 5A illustrates a fully curved optic fiber 500. Inone or more embodiments, optic fiber 250 may comprise a fully curvedoptic fiber 500, e.g., when actuation ring 130 is fully extendedrelative to handle base 110. Illustratively, optic fiber 250 maycomprise a fully curved optic fiber 500, e.g., when actuation structure120 is fully compressed.

In one or more embodiments, optic fiber 250 may comprise a fully curvedoptic fiber 500, e.g., when housing tube 200 is fully extended relativeto handle base 110. Illustratively, optic fiber 250 may be configured tofully compress a first housing tube portion 220 of housing tube 200,e.g., when optic fiber 250 comprises a fully curved optic fiber 500.Illustratively, a line tangent to optic fiber distal end 251 may beparallel to a line tangent to housing tube proximal end 202, e.g., whenoptic fiber 250 comprises a fully curved optic fiber 500.

FIG. 5B illustrates an optic fiber in a first partially straightenedposition 510. In one or more embodiments, a decompression of a fullycompressed actuation structure 120 may be configured to graduallystraighten optic fiber 250 from a fully curved optic fiber 500 to anoptic fiber in a first partially straightened position 510.Illustratively, a decompression of actuation structure 120 may beconfigured to gradually retract housing tube 200 relative to handle base110. In one or more embodiments, a gradual retraction of housing tube200 relative to handle base 110 may be configured to cause optic fiber250 to reduce a compressive force applied to an inner portion of housingtube 200.

Illustratively, a reduction of a compressive force applied to an innerportion of housing tube 200, e.g., by retracting housing tube 200relative to handle base 110, may be configured to decompress a firsthousing tube portion 220 of housing tube 200. For example, optic fiber250 may be fixed in a position relative to handle base 110 and fixed toan inner portion of housing tube 200. In one or more embodiments, ashousing tube 200 is gradually retracted relative to handle base 110,optic fiber 250 may be configured to reduce a compressive force appliedto an inner portion of housing tube 200 causing the inner portion ofhousing tube 200 to gradually be decompressed. Illustratively, areduction of a compressive force applied to an inner portion of housingtube 200 may be configured to gradually straighten housing tube 200. Inone or more embodiments, a gradual straightening of housing tube 200 maybe configured to gradually straighten optic fiber 250 from a fullycurved optic fiber 500 to an optic fiber in a first partiallystraightened position 510.

Illustratively, a line tangent to optic fiber distal end 251 mayintersect a line tangent to housing tube proximal end 202 at a firstpartially straightened angle, e.g., when optic fiber 250 comprises anoptic fiber in a first partially straightened position 510. In one ormore embodiments, the first partially straightened angle may compriseany angle less than 180 degrees. For example, the first partiallystraightened angle may comprise a 135 degree angle.

FIG. 5C illustrates an optic fiber in a second partially straightenedposition 520. In one or more embodiments, a decompression of actuationstructure 120 may be configured to gradually straighten optic fiber 250from an optic fiber in a first partially straightened position 510 to anoptic fiber in a second partially straightened position 520.Illustratively, a decompression of actuation structure 120 may beconfigured to gradually retract housing tube 200 relative to handle base110. In one or more embodiments, a gradual retraction of housing tube200 relative to handle base 110 may be configured to cause optic fiber250 to reduce a compressive force applied to an inner portion of housingtube 200.

Illustratively, a reduction of a compressive force applied to an innerportion of housing tube 200, e.g., by retracting housing tube 200relative to handle base 110, may be configured to decompress a firsthousing tube portion 220 of housing tube 200. For example, optic fiber250 may be fixed in a position relative to handle base 110 and fixed toan inner portion of housing tube 200. In one or more embodiments, ashousing tube 200 is gradually retracted relative to handle base 110,optic fiber 250 may be configured to reduce a compressive force appliedto an inner portion of housing tube 200 causing the inner portion ofhousing tube 200 to gradually be decompressed. Illustratively, areduction of a compressive force applied to an inner portion of housingtube 200 may be configured to gradually straighten housing tube 200. Inone or more embodiments, a gradual straightening of housing tube 200 maybe configured to gradually straighten optic fiber 250 from an opticfiber in a first partially straightened position 510 to an optic fiberin a second partially straightened position 520.

Illustratively, a line tangent to optic fiber distal end 251 mayintersect a line tangent to housing tube proximal end 202 at a secondpartially straightened angle, e.g., when optic fiber 250 comprises anoptic fiber in a second partially straightened position 520. In one ormore embodiments, the second partially straightened angle may compriseany angle less than the first partially straightened angle. For example,the second partially straightened angle may comprise a 90 degree angle.

FIG. 5D illustrates an optic fiber in a third partially straightenedposition 530. In one or more embodiments, a decompression of actuationstructure 120 may be configured to gradually straighten optic fiber 250from an optic fiber in a second partially straightened position 520 toan optic fiber in a third partially straightened position 530.Illustratively, a decompression of actuation structure 120 may beconfigured to gradually retract housing tube 200 relative to handle base110. In one or more embodiments, a gradual refraction of housing tube200 relative to handle base 110 may be configured to cause optic fiber250 to reduce a compressive force applied to an inner portion of housingtube 200.

Illustratively, a reduction of a compressive force applied to an innerportion of housing tube 200, e.g., by retracting housing tube 200relative to handle base 110, may be configured to decompress a firsthousing tube portion 220 of housing tube 200. For example, optic fiber250 may be fixed in a position relative to handle base 110 and fixed toan inner portion of housing tube 200. In one or more embodiments, ashousing tube 200 is gradually retracted relative to handle base 110,optic fiber 250 may be configured to reduce a compressive force appliedto an inner portion of housing tube 200 causing the inner portion ofhousing tube 200 to gradually be decompressed. Illustratively, areduction of a compressive force applied to an inner portion of housingtube 200 may be configured to gradually straighten housing tube 200. Inone or more embodiments, a gradual straightening of housing tube 200 maybe configured to gradually straighten optic fiber 250 from an opticfiber in a second partially straightened position 520 to an optic fiberin a third partially straightened position 530.

Illustratively, a line tangent to optic fiber distal end 251 mayintersect a line tangent to housing tube proximal end 202 at a thirdpartially straightened angle, e.g., when optic fiber 250 comprises anoptic fiber in a third partially straightened position 530. In one ormore embodiments, the third partially straightened angle may compriseany angle less than the second partially straightened angle. Forexample, the third partially straightened angle may comprise a 45 degreeangle.

FIG. 5E illustrates an optic fiber in a fully straightened position 540.In one or more embodiments, a decompression of actuation structure 120may be configured to gradually straighten optic fiber 250 from an opticfiber in a third partially straightened position 530 to an optic fiberin a fully straightened position 540. Illustratively, a decompression ofactuation structure 120 may be configured to gradually retract housingtube 200 relative to handle base 110. In one or more embodiments, agradual retraction of housing tube 200 relative to handle base 110 maybe configured to cause optic fiber 250 to reduce a compressive forceapplied to an inner portion of housing tube 200.

Illustratively, a reduction of a compressive force applied to an innerportion of housing tube 200, e.g., by retracting housing tube 200relative to handle base 110, may be configured to decompress a firsthousing tube portion 220 of housing tube 200. For example, optic fiber250 may be fixed in a position relative to handle base 110 and fixed toan inner portion of housing tube 200. In one or more embodiments, ashousing tube 200 is gradually retracted relative to handle base 110,optic fiber 250 may be configured to reduce a compressive force appliedto an inner portion of housing tube 200 causing the inner portion ofhousing tube 200 to gradually be decompressed. Illustratively, areduction of a compressive force applied to an inner portion of housingtube 200 may be configured to gradually straighten housing tube 200. Inone or more embodiments, a gradual straightening of housing tube 200 maybe configured to gradually straighten optic fiber 250 from an opticfiber in a third partially straightened position 530 to an optic fiberin a fully straightened position 540. Illustratively, a line tangent tooptic fiber distal end 251 may be parallel to a line tangent to housingtube proximal end 202, e.g., when optic fiber 250 comprises an opticfiber in a fully straightened position 540.

Illustratively, a surgeon may aim optic fiber distal end 251 at any of aplurality of targets within an eye, e.g., to perform a photocoagulationprocedure. In one or more embodiments, a surgeon may aim optic fiberdistal end 251 at any target within a particular transverse plane of theinner eye by, e.g., rotating handle 100 to orient housing tube 200 in anorientation configured to cause a curvature of housing tube 200 withinthe particular transverse plane of the inner eye and varying an amountof compression of actuation structure 120. Illustratively, a surgeon mayaim optic fiber distal end 251 at any target within a particularsagittal plane of the inner eye by, e.g., rotating handle 100 to orienthousing tube 200 in an orientation configured to cause a curvature ofhousing tube 200 within the particular sagittal plane of the inner eyeand varying an amount of compression of actuation structure 120. In oneor more embodiments, a surgeon may aim optic fiber distal end 251 at anytarget within a particular frontal plane of the inner eye by, e.g.,varying an amount of compression of actuation structure 120 to orient aline tangent to optic fiber distal end 251 wherein the line tangent tooptic fiber distal end 251 is within the particular frontal plane of theinner eye and rotating handle 100. Illustratively, a surgeon may aimoptic fiber distal end 251 at any target located outside of theparticular transverse plane, the particular sagittal plane, and theparticular frontal plane of the inner eye, e.g., by varying a rotationalorientation of handle 100 and varying an amount of compression ofactuation structure 120. In one or more embodiments, a surgeon may aimoptic fiber distal end 251 at any target of a plurality of targetswithin an eye, e.g., without increasing a length of a portion of asteerable laser probe within the eye. Illustratively, a surgeon may aimoptic fiber distal end 251 at any target of a plurality of targetswithin an eye, e.g., without decreasing a length of a portion of asteerable laser probe within the eye.

FIGS. 6A and 6B are schematic diagrams illustrating a handle 600. FIG.6A illustrates a top view of handle 600. In one or more embodiments,handle 600 may comprise a handle distal end 601, a handle proximal end602, a handle base 610, and an actuation structure 620. Illustratively,actuation structure 620 may comprise an actuation structure distal end621 and an actuation structure proximal end 622. In one or moreembodiments, actuation structure 620 may comprise a plurality ofactuation arms 625. Illustratively, each actuation arm 625 may compriseat least one extension mechanism 626. In one or more embodiments,actuation structure 620 may comprise a shape memory material configuredto project actuation structure distal end 621 a first distance fromactuation structure proximal end 622, e.g., when actuation structure 620is fully decompressed. Illustratively, actuation structure 620 maycomprise a shape memory material configured to project actuationstructure distal end 621 a second distance from actuation structureproximal end 622, e.g., when actuation structure 620 is fullycompressed. In one or more embodiments, the second distance fromactuation structure proximal end 622 may be greater than the firstdistance from actuation structure proximal end 622. Actuation structure620 may be manufactured from any suitable material, e.g., polymers,metals, metal alloys, etc., or from any combination of suitablematerials.

Illustratively, actuation structure 620 may be compressed by anapplication of a compressive force to actuation structure 620. In one ormore embodiments, actuation structure 620 may be compressed by anapplication of one or more compressive forces located at one or morelocations around an outer perimeter of actuation structure 620.Illustratively, the one or more locations may comprise any of aplurality of locations around the outer perimeter of actuation structure620. For example, a surgeon may compress actuation structure 620 bysqueezing actuation structure 620. Illustratively, the surgeon maycompress actuation structure 620 by squeezing actuation structure 620 atany particular location of a plurality of locations around an outerperimeter of actuation structure 620. For example, a surgeon may rotatehandle 600 and compress actuation structure 620 from any rotationalposition of a plurality of rotational positions of handle 600.

In one or more embodiments, actuation structure 620 may be compressed byan application of a compressive force to any one or more of theplurality of actuation arms 625. Illustratively, each actuation arm 625may be configured to actuate independently. In one or more embodiments,each actuation arm 625 may be connected to one or more of the pluralityof actuation arms 625 wherein an actuation of a particular actuation arm625 may be configured to actuate every actuation arm 625 of theplurality of actuation arms 625. Illustratively, one or more actuationarms 625 may be configured to actuate in pairs or groups. For example,an actuation of a first actuation arm 625 may be configured to actuate asecond actuation arm 625.

In one or more embodiments, a compression of actuation structure 620,e.g., due to an application of a compressive force to a particularactuation arm 625, may be configured to actuate the particular actuationarm 625. Illustratively, an actuation of the particular actuation arm625 may be configured to actuate every actuation arm 625 of theplurality of actuation arms 625. In one or more embodiments, anapplication of a compressive force to a particular actuation arm 625 maybe configured to extend at least one extension mechanism 626 of theparticular actuation arm 625. Illustratively, a particular actuation arm625 may be configured to extend a first length from handle base 610. Anextension of an extension mechanism 626 of the particular actuation arm625, e.g., due to an application of a compressive force to theparticular actuation arm 625, may be configured to extend the particularactuation arm 625 a second length from handle base 610. Illustratively,the second length from handle base 610 may be greater than the firstlength from handle base 610.

In one or more embodiments, handle 600 may comprise an actuation ring630 fixed to actuation structure distal end 621. Illustratively, acompression of actuation structure 620 may be configured to graduallyextend actuation ring 630 from handle base 610. For example, actuationring 630 may be configured to extend a first distance from actuationstructure proximal end 622, e.g., when actuation structure 620 is fullydecompressed. Actuation ring 630 may be configured to extend a seconddistance from actuation structure proximal end 622, e.g., due to acompression of actuation structure 620. Illustratively, the seconddistance from actuation structure proximal end 622 may be greater thanthe first distance from actuation structure proximal end 622.

FIG. 6B illustrates a cross-sectional view of handle 600. In one or moreembodiments, handle 600 may comprise an inner bore 640, an inner boreproximal taper 650, a piston tube housing 660, and a fixation pinhousing 670. Handle 600 may be manufactured from any suitable material,e.g., polymers, metals, metal alloys, etc., or from any combination ofsuitable materials.

FIGS. 7A, 7B, and 7C are schematic diagrams illustrating a housing tube700. In one or more embodiments, housing tube 700 may comprise a housingtube distal end 701 and a housing tube proximal end 702. Housing tube700 may be manufactured from any suitable material, e.g., polymers,metals, metal alloys, etc., or from any combination of suitablematerials. FIG. 7A illustrates a housing tube 700 oriented to illustratea first housing tube portion 720. Illustratively, first housing tubeportion 720 may have a first stiffness. FIG. 7B illustrates a housingtube 700 oriented to illustrate a second housing tube portion 730.Illustratively, second housing tube portion 730 may have a secondstiffness. In one or more embodiments, the second stiffness may begreater than the first stiffness. Illustratively, first housing tubeportion 720 may comprise a first material having a first stiffness. Inone or more embodiments, second housing tube portion 730 may comprise asecond material having a second stiffness. Illustratively, the secondstiffness may be greater than the first stiffness.

In one or more embodiments, first housing tube portion 720 may compriseone or more apertures configured to produce a first stiffness of firsthousing tube portion 720. Illustratively, second housing tube portion730 may comprise a solid portion of housing tube 700 having a secondstiffness. In one or more embodiments, the second stiffness may begreater than the first stiffness. Illustratively, first housing tubeportion 720 may comprise one or more apertures configured to produce afirst stiffness of first housing tube portion 720. In one or moreembodiments, second housing tube portion 730 may comprise one or moreapertures configured to produce a second stiffness of second housingtube portion 730. Illustratively, the second stiffness may be greaterthan the first stiffness.

In one or more embodiments, first housing tube portion 720 may comprisea plurality of slits configured to separate one or more solid portionsof housing tube 700. Illustratively, a plurality of slits may be cut,e.g., laser cut, into first housing tube portion 720. In one or moreembodiments, first housing tube portion 720 may comprise a plurality ofslits configured to minimize a force of friction between housing tube700 and a cannula, e.g., as housing tube 700 is inserted into thecannula or as housing tube 700 is extracted from the cannula. Forexample, each slit of the plurality of slits may comprise one or morearches configured to minimize a force of friction between housing tube700 and a cannula.

FIG. 7C illustrates an angled view of housing tube 700. Illustratively,an optic fiber 750 may be disposed within housing tube 700. In one ormore embodiments, optic fiber 750 may be disposed within housing tube700 wherein an optic fiber distal end 751 is adjacent to housing tubedistal end 701. Illustratively, optic fiber 750 may be disposed withinhousing tube 700 wherein a portion of optic fiber 750 may be adjacent toa portion of first housing tube portion 720. In one or more embodiments,a portion of optic fiber 750 may be fixed to an inner portion of housingtube 700, e.g., by a biocompatible adhesive or any other suitable means.

Illustratively, a wire 740 may be disposed within housing tube 700. Inone or more embodiments, wire 740 may be disposed within housing tube700 wherein a wire distal end 741 may be adjacent to housing tube distalend 701. Illustratively, wire 740 may be disposed within housing tube700 wherein a portion of wire 740 may be adjacent to a portion of firsthousing tube portion 720. In one or more embodiments, a portion of wire740 may be fixed to an inner portion of housing tube 700, e.g., by abiocompatible adhesive or any other suitable fixation means.

FIG. 8 is a schematic diagram illustrating an exploded view of asteerable laser probe assembly 800. In one or more embodiments,steerable laser probe assembly 800 may comprise a handle 600, a housingtube 700 having a housing tube distal end 701 and a housing tubeproximal end 702, a wire 740 having a wire distal end 741 and a wireproximal loop 742, an optic fiber 750 having an optic fiber distal end751 and an optic fiber proximal end 752, a fixation pin 810, a fixationmechanism 320, a piston tube 330 having a piston tube distal end 331 anda piston tube proximal end 332, an outer nosecone 340 having an outernosecone distal end 341 and an outer nosecone proximal end 342, an innernosecone 350 having an inner nosecone distal end 351 and an innernosecone proximal end 352, and a light source interface 370.Illustratively, light source interface 370 may be configured tointerface with optic fiber proximal end 752. In one or more embodiments,light source interface 370 may comprise a standard light sourceconnecter, e.g., an SMA connector.

Illustratively, piston tube distal end 331 may be fixed to innernosecone proximal end 352; housing tube proximal end 702 may be fixed toinner nosecone distal end 351; and outer nosecone 340 may be fixed toactuation structure 620, e.g., outer nosecone proximal end 342 may befixed to actuation ring 630. In one or more embodiments, fixationmechanism 320 may be configured to attach outer nosecone 340 and innernosecone 350, e.g., outer nosecone distal end 341 may be fixed to innernosecone proximal end 352. Illustratively, fixation mechanism 320 maycomprise a set screw configured to firmly attach outer nosecone 340 andinner nosecone 350. In one or more embodiments, fixation mechanism 320may comprise an adhesive material configured to attach outer nosecone340 and inner nosecone 350, or fixation mechanism 320 may comprise oneor more magnets configured to attach outer nosecone 340 and innernosecone 350. Piston tube 330, outer nosecone 340, and inner nosecone350 may be manufactured from any suitable material, e.g., polymers,metals, metal alloys, etc., or from any combination of suitablematerials. Illustratively, piston tube 330 and inner nosecone 350 may bemanufactured as a unit. In one or more embodiments, outer nosecone 340and inner nosecone 350 may be manufactured as a unit. For example,piston tube 330, outer nosecone 340, and inner nosecone 350 may bemanufactured as a unit.

In one or more embodiments, fixation pin 810 may be disposed withinfixation pin housing 670. Illustratively, wire 740 may be disposedwithin housing tube 700, inner nosecone 350, outer nosecone 340, pistontube 330, piston tube housing 660, inner bore 640, and fixation pinhousing 670. In one or more embodiments, fixation pin 810 may beconfigured to fix wire 740 in a position relative to handle 600, e.g.,at fixation pin housing 670. For example, fixation pin 810 may bedisposed within wire proximal loop 742, e.g., to fix wire 740 in aposition relative to handle 600. Illustratively, wire 740 may bedisposed within housing tube 700 wherein wire distal end 741 may beadjacent to housing tube distal end 701. In one or more embodiments,wire 740 may be disposed within housing tube 700 wherein wire 740 may beadjacent to a first housing tube portion 720. Illustratively, a portionof wire 740 may be fixed to an inner portion of housing tube 700, e.g.,by a biocompatible adhesive or any other suitable fixation means.

In one or more embodiments, optic fiber 750 may be disposed within innerbore 640, fixation pin housing 670, piston tube housing 660, piston tube330, outer nosecone 340, inner nosecone 350, and housing tube 700.Illustratively, optic fiber 750 may be disposed within housing tube 700wherein optic fiber distal end 751 may be adjacent to housing tubedistal end 701. In one or more embodiments, optic fiber 750 may bedisposed within housing tube 700 wherein optic fiber 750 may be adjacentto a first housing tube portion 720. Illustratively, a portion of opticfiber 750 may be fixed to an inner portion of housing tube 700, e.g., bya biocompatible adhesive or any other suitable fixation means.

In one or more embodiments, a compression of actuation structure 620 maybe configured to gradually extend actuation ring 630, piston tube 330,outer nosecone 340, inner nosecone 350, and housing tube 700 relative tohandle base 610. Illustratively, wire 740 may be both fixed in aposition relative to handle base 610, e.g., by fixation pin 810, andfixed to an inner portion of housing tube 700. In one or moreembodiments, as housing tube 700 is extended relative to handle base610, e.g., due to a compression of actuation structure 620, wire 740 maybe configured to resist a portion of housing tube 700, e.g., a firsthousing tube portion 720, from extending relative to handle base 610.Illustratively, as housing tube 700 is gradually extended relative tohandle base 610, wire 740 may be configured to gradually compress afirst housing tube portion 720 of housing tube 700 causing housing tube700 to gradually curve. In one or more embodiments, a gradual curving ofhousing tube 700 may be configured to gradually curve optic fiber 750.

Illustratively, a decompression of actuation structure 620 may beconfigured to gradually retract actuation ring 630, piston tube 330,outer nosecone 340, inner nosecone 350, and housing tube 700 relative tohandle base 610. In one or more embodiments, as housing tube 700 isgradually retracted relative to handle base 610, wire 740 may beconfigured to gradually decompress a first housing tube portion 720 ofhousing tube 700 causing housing tube 700 to gradually straighten. Forexample, a decompression of actuation structure 620 may be configured toreduce a compressive force applied, e.g., by wire 740, to an innerportion of housing tube 700 causing housing tube 700 to graduallystraighten. Illustratively, a gradual straightening of housing tube 700may be configured to gradually straighten optic fiber 750.

In one or more embodiments, first housing tube portion 720 may comprisea one or more apertures in housing tube 700. Illustratively, a firstsolid portion of first housing tube portion 720 may be separated, e.g.,by an aperture in housing tube 700, from a second solid portion of firsthousing tube portion 720. In one or more embodiments, a first solidportion of first housing tube portion 720 may be separated from a secondsolid portion of first housing tube portion 720 by a separationdistance. Illustratively, a compression of actuation structure 620 maybe configured to reduce the separation distance between the first solidportion of first housing tube portion 720 and the second solid portionof first housing tube portion 720. In one or more embodiments, adecompression of actuation structure 620 may be configured to increasethe separation distance between the first solid portion of first housingtube portion 720 and the second solid portion of first housing tubeportion 720.

FIGS. 9A, 9B, 9C, 9D, and 9E illustrate a gradual curving of an opticfiber 750. FIG. 9A illustrates a straight optic fiber 900. In one ormore embodiments, optic fiber 750 may comprise a straight optic fiber900, e.g., when actuation ring 630 is fully retracted relative to handlebase 610. Illustratively, optic fiber 750 may comprise a straight opticfiber 900, e.g., when actuation structure 620 is fully decompressed. Inone or more embodiments, optic fiber 750 may comprise a straight opticfiber 900, e.g., when housing tube 700 is fully retracted relative tohandle base 610. Illustratively, a line tangent to optic fiber distalend 751 may be parallel to a line tangent to housing tube proximal end702, e.g., when optic fiber 750 comprises a straight optic fiber 900.

FIG. 9B illustrates an optic fiber in a first curved position 910. Inone or more embodiments, a compression of a fully decompressed actuationstructure 620 may be configured to gradually curve optic fiber 750 froma straight optic fiber 900 to an optic fiber in a first curved position910. Illustratively, a compression of actuation structure 620 may beconfigured to gradually extend housing tube 700 relative to handle base610 and wire 740. In one or more embodiments, a gradual extension ofhousing tube 700 relative to handle base 610 may be configured to causewire 740 to provide a compressive force to an inner portion of housingtube 700. For example, wire 740 may be configured to provide acompressive force configured to oppose an extension of an inner portionof housing tube 700.

Illustratively, an application of a compressive force to an innerportion of housing tube 700, e.g., by extending housing tube 700relative to handle base 610, may be configured to compress a firsthousing tube portion 720 of housing tube 700. For example, wire 740 maybe fixed in a position relative to handle base 610 and fixed to an innerportion of housing tube 700. In one or more embodiments, as housing tube700 is gradually extended relative to handle base 610, wire 740 may beconfigured to resist an inner portion of housing tube 700 from beingextended relative to handle base 610 causing the inner portion ofhousing tube 700 to gradually be compressed. Illustratively, anapplication of a compressive force to an inner portion of housing tube700 may be configured to gradually curve housing tube 700. In one ormore embodiments, a gradual curving of housing tube 700 may beconfigured to gradually curve optic fiber 750 from a straight opticfiber 900 to an optic fiber in a first curved position 910.

Illustratively, a line tangent to optic fiber distal end 751 mayintersect a line tangent to housing tube proximal end 702 at a firstangle, e.g., when optic fiber 750 comprises an optic fiber in a firstcurved position 910. In one or more embodiments, the first angle maycomprise any angle greater than zero degrees. For example, the firstangle may comprise a 45 degree angle.

FIG. 9C illustrates an optic fiber in a second curved position 920. Inone or more embodiments, a compression of actuation structure 620 may beconfigured to gradually curve optic fiber 750 from an optic fiber in afirst curved position 910 to an optic fiber in a second curved position920. Illustratively, a compression of actuation structure 620 may beconfigured to gradually extend housing tube 700 relative to handle base610 and wire 740. In one or more embodiments, a gradual extension ofhousing tube 700 relative to handle base 610 may be configured to causewire 740 to provide a compressive force to an inner portion of housingtube 700. For example, wire 740 may be configured to provide acompressive force configured to oppose an extension of an inner portionof housing tube 700.

Illustratively, an application of a compressive force to an innerportion of housing tube 700, e.g., by extending housing tube 700relative to handle base 610, may be configured to compress a firsthousing tube portion 720 of housing tube 700. For example, wire 740 maybe fixed in a position relative to handle base 610 and fixed to an innerportion of housing tube 700. In one or more embodiments, as housing tube700 is gradually extended relative to handle base 610, wire 740 may beconfigured to resist an inner portion of housing tube 700 from beingextended relative to handle base 610 causing the inner portion ofhousing tube 700 to gradually be compressed. Illustratively, anapplication of a compressive force to an inner portion of housing tube700 may be configured to gradually curve housing tube 700. In one ormore embodiments, a gradual curving of housing tube 700 may beconfigured to gradually curve optic fiber 750 from an optic fiber in afirst curved position 910 to an optic fiber in a second curved position920.

Illustratively, a line tangent to optic fiber distal end 751 mayintersect a line tangent to housing tube proximal end 702 at a secondangle, e.g., when optic fiber 750 comprises an optic fiber in a secondcurved position 920. In one or more embodiments, the second angle maycomprise any angle greater than the first angle. For example, the secondangle may comprise a 90 degree angle.

FIG. 9D illustrates an optic fiber in a third curved position 930. Inone or more embodiments, a compression of actuation structure 620 may beconfigured to gradually curve optic fiber 750 from an optic fiber in asecond curved position 920 to an optic fiber in a third curved position930. Illustratively, a compression of actuation structure 620 may beconfigured to gradually extend housing tube 700 relative to handle base610 and wire 740. In one or more embodiments, a gradual extension ofhousing tube 700 relative to handle base 610 may be configured to causewire 740 to provide a compressive force to an inner portion of housingtube 700. For example, wire 750 may be configured to provide acompressive force configured to oppose an extension of an inner portionof housing tube 700.

Illustratively, an application of a compressive force to an innerportion of housing tube 700, e.g., by extending housing tube 700relative to handle base 610, may be configured to compress a firsthousing tube portion 720 of housing tube 700. For example, wire 740 maybe fixed in a position relative to handle base 610 and fixed to an innerportion of housing tube 700. In one or more embodiments, as housing tube700 is gradually extended relative to handle base 610, wire 740 may beconfigured to resist an inner portion of housing tube 700 from beingextended relative to handle base 610 causing the inner portion ofhousing tube 700 to gradually be compressed. Illustratively, anapplication of a compressive force to an inner portion of housing tube700 may be configured to gradually curve housing tube 700. In one ormore embodiments, a gradual curving of housing tube 700 may beconfigured to gradually curve optic fiber 750 from an optic fiber in asecond curved position 920 to an optic fiber in a third curved position930.

Illustratively, a line tangent to optic fiber distal end 751 mayintersect a line tangent to housing tube proximal end 702 at a thirdangle, e.g., when optic fiber 750 comprises an optic fiber in a thirdcurved position 930. In one or more embodiments, the third angle maycomprise any angle greater than the second angle. For example, the thirdangle may comprise a 135 degree angle.

FIG. 9E illustrates an optic fiber in a fourth curved position 940. Inone or more embodiments, a compression of actuation structure 620 may beconfigured to gradually curve optic fiber 750 from an optic fiber in athird curved position 930 to an optic fiber in a fourth curved position940. Illustratively, a compression of actuation structure 620 may beconfigured to gradually extend housing tube 700 relative to handle base610 and wire 740. In one or more embodiments, a gradual extension ofhousing tube 700 relative to handle base 610 may be configured to causewire 740 to provide a compressive force to an inner portion of housingtube 700. For example, wire 740 may be configured to provide acompressive force configured to oppose an extension of an inner portionof housing tube 700.

Illustratively, an application of a compressive force to an innerportion of housing tube 700, e.g., by extending housing tube 700relative to handle base 610, may be configured to compress a firsthousing tube portion 720 of housing tube 700. For example, wire 740 maybe fixed in a position relative to handle base 610 and fixed to an innerportion of housing tube 700. In one or more embodiments, as housing tube700 is gradually extended relative to handle base 610, wire 740 may beconfigured to resist an inner portion of housing tube 700 from beingextended relative to handle base 610 causing the inner portion ofhousing tube 700 to gradually be compressed. Illustratively, anapplication of a compressive force to an inner portion of housing tube700 may be configured to gradually curve housing tube 700. In one ormore embodiments, a gradual curving of housing tube 700 may beconfigured to gradually curve optic fiber 750 from an optic fiber in athird curved position 930 to an optic fiber in a forth curved position940. Illustratively, a line tangent to optic fiber distal end 751 may beparallel to a line tangent to housing tube proximal end 702, e.g., whenoptic fiber 750 comprises an optic fiber in a fourth curved position940.

In one or more embodiments, one or more properties of a steerable laserprobe may be adjusted to attain one or more desired steerable laserprobe features. For example, a length that housing tube 700 extends frominner nosecone distal end 351 may be adjusted to vary an amount ofcompression of actuation structure 620 configured to curve housing tube700 to a particular curved position. In one or more embodiments, aportion of wire 740 may be fixed to an outer portion of housing tube 700wherein a compression of actuation structure 620 may be configured tocause wire 740 to compress a first housing tube portion 720 of housingtube 700. Illustratively, a position of fixation pin 810 or a length ofwire 740 extending distally from a position of fixation pin 810 may beadjusted to vary an amount of compression of actuation structure 620configured to curve housing tube 700 to a particular curved position. Inone or more embodiments, a stiffness of first housing tube portion 720or a stiffness of second housing tube portion 730 may be adjusted tovary an amount of compression of actuation structure 620 configured tocurve housing tube 700 to a particular curved position. Illustratively,a material comprising first housing tube portion 720 or a materialcomprising second housing tube portion 730 may be adjusted to vary anamount of compression of actuation structure 620 configured to curvehousing tube 700 to a particular curved position.

In one or more embodiments, a number of apertures in housing tube 700may be adjusted to vary an amount of compression of actuation structure620 configured to curve housing tube 700 to a particular curvedposition. Illustratively, a location of one or more apertures in housingtube 700 may be adjusted to vary an amount of compression of actuationstructure 620 configured to curve housing tube 700 to a particularcurved position. In one or more embodiments, a geometry of one or moreapertures in housing tube 700 may be adjusted to vary an amount ofcompression of action structure 620 configured to curve housing tube 700to a particular curved position. Illustratively, a geometry of one ormore apertures in housing tube 700 may be uniform, e.g., each apertureof the one or more apertures may have a same geometry. In one or moreembodiments, a geometry of one or more apertures in housing tube 700 maybe non-uniform, e.g., a first aperture in housing tube 700 may have afirst geometry and a second aperture in housing tube 700 may have asecond geometry.

Illustratively, a distance that inner nosecone 350 extends from outernosecone distal end 341 may be adjusted to vary an amount of compressionof actuation structure 620 configured to curve housing tube 700 to aparticular curved position. In one or more embodiments, a geometry ofactuation structure 620 may be adjusted to vary an amount of compressionof actuation structure 620 configured to curve housing tube 700 to aparticular curved position. Illustratively, one or more locations withinhousing tube 700 wherein wire 740 may be fixed to an inner portion ofhousing tube 700 may be adjusted to vary an amount of compression ofactuation structure 620 configured to curve housing tube 700 to aparticular curved position. In one or more embodiments, at least aportion of optic fiber 750 may be enclosed in an optic fiber sleeveconfigured to, e.g., protect optic fiber 750, vary a stiffness of opticfiber 750, vary an optical property of optic fiber 750, etc.

Illustratively, a stiffness of first housing tube portion 720 or astiffness of second housing tube portion 730 may be adjusted to vary abend radius of housing tube 700. In one or more embodiments, a stiffnessof first housing tube portion 720 or a stiffness of second housing tubeportion 730 may be adjusted to vary a radius of curvature of housingtube 700, e.g., when housing tube 700 is in a particular curvedposition. Illustratively, a number of apertures in housing tube 700 maybe adjusted to vary a bend radius of housing tube 700. In one or moreembodiments, a number of apertures in housing tube 700 may be adjustedto vary a radius of curvature of housing tube 700, e.g., when housingtube 700 is in a particular curved position. Illustratively, a locationor a geometry of one or more apertures in housing tube 700 may beadjusted to vary a bend radius of housing tube 700. In one or moreembodiments, a location or a geometry of one or more apertures inhousing tube 700 may be adjusted to vary a radius of curvature ofhousing tube 700, e.g., when housing tube 700 is in a particular curvedposition.

FIGS. 10A, 10B, 10C, 10D, and 10E illustrate a gradual straightening ofan optic fiber 750. FIG. 10A illustrates a fully curved optic fiber1000. In one or more embodiments, optic fiber 750 may comprise a fullycurved optic fiber 1000, e.g., when actuation ring 630 is fully extendedrelative to handle base 610. Illustratively, optic fiber 750 maycomprise a fully curved optic fiber 1000, e.g., when actuation structure620 is fully compressed.

In one or more embodiments, optic fiber 750 may comprise a fully curvedoptic fiber 1000, e.g., when housing tube 700 is fully extended relativeto handle base 610. Illustratively, wire 740 may be configured to fullycompress a first housing tube portion 720 of housing tube 700, e.g.,when optic fiber 750 comprises a fully curved optic fiber 1000.Illustratively, a line tangent to optic fiber distal end 751 may beparallel to a line tangent to housing tube proximal end 702, e.g., whenoptic fiber 750 comprises a fully curved optic fiber 1000.

FIG. 10B illustrates an optic fiber in a first partially straightenedposition 1010. In one or more embodiments, a decompression of a fullycompressed actuation structure 620 may be configured to graduallystraighten optic fiber 750 from a fully curved optic fiber 1000 to anoptic fiber in a first partially straightened position 1010.Illustratively, a decompression of actuation structure 620 may beconfigured to gradually retract housing tube 700 relative to handle base610 and wire 740. In one or more embodiments, a gradual retraction ofhousing tube 700 relative to handle base 610 may be configured to causewire 740 to reduce a compressive force applied to an inner portion ofhousing tube 700.

Illustratively, a reduction of a compressive force applied to an innerportion of housing tube 700, e.g., by retracting housing tube 700relative to handle base 610, may be configured to decompress a firsthousing tube portion 720 of housing tube 700. For example, wire 740 maybe fixed in a position relative to handle base 610 and fixed to an innerportion of housing tube 700. In one or more embodiments, as housing tube700 is gradually retracted relative to handle base 610, wire 740 may beconfigured to reduce a compressive force applied to an inner portion ofhousing tube 700 causing the inner portion of housing tube 700 togradually be decompressed. Illustratively, a reduction of a compressiveforce applied to an inner portion of housing tube 700 may be configuredto gradually straighten housing tube 700. In one or more embodiments, agradual straightening of housing tube 700 may be configured to graduallystraighten optic fiber 750 from a fully curved optic fiber 1000 to anoptic fiber in a first partially straightened position 1010.

Illustratively, a line tangent to optic fiber distal end 751 mayintersect a line tangent to housing tube proximal end 702 at a firstpartially straightened angle, e.g., when optic fiber 750 comprises anoptic fiber in a first partially straightened position 1010. In one ormore embodiments, the first partially straightened angle may compriseany angle less than 180 degrees. For example, the first partiallystraightened angle may comprise a 135 degree angle.

FIG. 10C illustrates an optic fiber in a second partially straightenedposition 1020. In one or more embodiments, a decompression of actuationstructure 620 may be configured to gradually straighten optic fiber 750from an optic fiber in a first partially straightened position 1010 toan optic fiber in a second partially straightened position 1020.Illustratively, a decompression of actuation structure 620 may beconfigured to gradually retract housing tube 700 relative to handle base610 and wire 740. In one or more embodiments, a gradual retraction ofhousing tube 700 relative to handle base 610 may be configured to causewire 740 to reduce a compressive force applied to an inner portion ofhousing tube 700.

Illustratively, a reduction of a compressive force applied to an innerportion of housing tube 700, e.g., by retracting housing tube 700relative to handle base 610, may be configured to decompress a firsthousing tube portion 720 of housing tube 700. For example, wire 740 maybe fixed in a position relative to handle base 610 and fixed to an innerportion of housing tube 700. In one or more embodiments, as housing tube700 is gradually retracted relative to handle base 610, wire 740 may beconfigured to reduce a compressive force applied to an inner portion ofhousing tube 700 causing the inner portion of housing tube 700 togradually be decompressed. Illustratively, a reduction of a compressiveforce applied to an inner portion of housing tube 700 may be configuredto gradually straighten housing tube 700. In one or more embodiments, agradual straightening of housing tube 700 may be configured to graduallystraighten optic fiber 750 from an optic fiber in a first partiallystraightened position 1010 to an optic fiber in a second partiallystraightened position 1020.

Illustratively, a line tangent to optic fiber distal end 751 mayintersect a line tangent to housing tube proximal end 702 at a secondpartially straightened angle, e.g., when optic fiber 750 comprises anoptic fiber in a second partially straightened position 1020. In one ormore embodiments, the second partially straightened angle may compriseany angle less than the first partially straightened angle. For example,the second partially straightened angle may comprise a 90 degree angle.

FIG. 10D illustrates an optic fiber in a third partially straightenedposition 1030. In one or more embodiments, a decompression of actuationstructure 620 may be configured to gradually straighten optic fiber 750from an optic fiber in a second partially straightened position 1020 toan optic fiber in a third partially straightened position 1030.Illustratively, a decompression of actuation structure 620 may beconfigured to gradually retract housing tube 700 relative to handle base610 and wire 740. In one or more embodiments, a gradual retraction ofhousing tube 700 relative to handle base 610 may be configured to causewire 740 to reduce a compressive force applied to an inner portion ofhousing tube 700.

Illustratively, a reduction of a compressive force applied to an innerportion of housing tube 700, e.g., by retracting housing tube 700relative to handle base 610, may be configured to decompress a firsthousing tube portion 720 of housing tube 700. For example, wire 740 maybe fixed in a position relative to handle base 610 and fixed to an innerportion of housing tube 700. In one or more embodiments, as housing tube700 is gradually retracted relative to handle base 610, wire 740 may beconfigured to reduce a compressive force applied to an inner portion ofhousing tube 700 causing the inner portion of housing tube 700 togradually be decompressed. Illustratively, a reduction of a compressiveforce applied to an inner portion of housing tube 700 may be configuredto gradually straighten housing tube 700. In one or more embodiments, agradual straightening of housing tube 700 may be configured to graduallystraighten optic fiber 750 from an optic fiber in a second partiallystraightened position 1020 to an optic fiber in a third partiallystraightened position 1030.

Illustratively, a line tangent to optic fiber distal end 751 mayintersect a line tangent to housing tube proximal end 702 at a thirdpartially straightened angle, e.g., when optic fiber 750 comprises anoptic fiber in a third partially straightened position 1030. In one ormore embodiments, the third partially straightened angle may compriseany angle less than the second partially straightened angle. Forexample, the third partially straightened angle may comprise a 45 degreeangle.

FIG. 10E illustrates an optic fiber in a fully straightened position1040. In one or more embodiments, a decompression of actuation structure620 may be configured to gradually straighten optic fiber 750 from anoptic fiber in a third partially straightened position 1030 to an opticfiber in a fully straightened position 1040. Illustratively, adecompression of actuation structure 620 may be configured to graduallyretract housing tube 700 relative to handle base 610 and wire 740. Inone or more embodiments, a gradual retraction of housing tube 700relative to handle base 610 may be configured to cause wire 740 toreduce a compressive force applied to an inner portion of housing tube700.

Illustratively, a reduction of a compressive force applied to an innerportion of housing tube 700, e.g., by retracting housing tube 700relative to handle base 610, may be configured to decompress a firsthousing tube portion 720 of housing tube 700. For example, wire 740 maybe fixed in a position relative to handle base 610 and fixed to an innerportion of housing tube 700. In one or more embodiments, as housing tube700 is gradually retracted relative to handle base 610, wire 740 may beconfigured to reduce a compressive force applied to an inner portion ofhousing tube 700 causing the inner portion of housing tube 700 togradually be decompressed. Illustratively, a reduction of a compressiveforce applied to an inner portion of housing tube 700 may be configuredto gradually straighten housing tube 700. In one or more embodiments, agradual straightening of housing tube 700 may be configured to graduallystraighten optic fiber 750 from an optic fiber in a third partiallystraightened position 1030 to an optic fiber in a fully straightenedposition 1040. Illustratively, a line tangent to optic fiber distal end751 may be parallel to a line tangent to housing tube proximal end 702,e.g., when optic fiber 750 comprises an optic fiber in a fullystraightened position 1040.

Illustratively, a surgeon may aim optic fiber distal end 751 at any of aplurality of targets within an eye, e.g., to perform a photocoagulationprocedure. In one or more embodiments, a surgeon may aim optic fiberdistal end 751 at any target within a particular transverse plane of theinner eye by, e.g., rotating handle 600 to orient housing tube 700 in anorientation configured to cause a curvature of housing tube 700 withinthe particular transverse plane of the inner eye and varying an amountof compression of actuation structure 620. Illustratively, a surgeon mayaim optic fiber distal end 751 at any target within a particularsagittal plane of the inner eye by, e.g., rotating handle 600 to orienthousing tube 700 in an orientation configured to cause a curvature ofhousing tube 700 within the particular sagittal plane of the inner eyeand varying an amount of compression of actuation structure 620. In oneor more embodiments, a surgeon may aim optic fiber distal end 751 at anytarget within a particular frontal plane of the inner eye by, e.g.,varying an amount of compression of actuation structure 620 to orient aline tangent to optic fiber distal end 751 wherein the line tangent tooptic fiber distal end 751 is within the particular frontal plane of theinner eye and rotating handle 600. Illustratively, a surgeon may aimoptic fiber distal end 751 at any target located outside of theparticular transverse plane, the particular sagittal plane, and theparticular frontal plane of the inner eye, e.g., by varying a rotationalorientation of handle 600 and varying an amount of compression ofactuation structure 620. In one or more embodiments, a surgeon may aimoptic fiber distal end 751 at any target of a plurality of targetswithin an eye, e.g., without increasing a length of a portion of asteerable laser probe within the eye. Illustratively, a surgeon may aimoptic fiber distal end 751 at any target of a plurality of targetswithin an eye, e.g., without decreasing a length of a portion of asteerable laser probe within the eye.

FIGS. 11A and 11B are schematic diagrams illustrating a handle 1100.FIG. 11A illustrates a top view of handle 1100. In one or moreembodiments, handle 1100 may comprise a handle distal end 1101, a handleproximal end 1102, a handle base 1110, an actuation structure 1120, anactuation ring 1130, an actuation mechanism housing 1135, a platformbase 1140, an actuation mechanism guide 1145, and a housing tubeplatform 1150. Illustratively, actuation structure 1120 may comprise anactuation structure distal end 1121 and an actuation structure proximalend 1122. In one or more embodiments, actuation structure 1120 maycomprise a plurality of actuation arms 1125. Illustratively, eachactuation arm 1125 may comprise at least one extension mechanism 1126.In one or more embodiments, actuation structure 1120 may comprise ashape memory material configured to project actuation structure distalend 1121 a first distance from actuation structure proximal end 1122,e.g., when actuation structure 1120 is fully decompressed.Illustratively, actuation structure 1120 may comprise a shape memorymaterial configured to project actuation structure distal end 1121 asecond distance from actuation structure proximal end 1122, e.g., whenactuation structure 1120 is fully compressed. In one or moreembodiments, the second distance from actuation structure proximal end1122 may be greater than the first distance from actuation structureproximal end 1122. Actuation structure 1120 may be manufactured from anysuitable material, e.g., polymers, metals, metal alloys, etc., or fromany combination of suitable materials.

Illustratively, actuation structure 1120 may be compressed by anapplication of a compressive force to actuation structure 1120. In oneor more embodiments, actuation structure 1120 may be compressed by anapplication of one or more compressive forces located at one or morelocations around an outer perimeter of actuation structure 1120.Illustratively, the one or more locations may comprise any of aplurality of locations around the outer perimeter of actuation structure1120. For example, a surgeon may compress actuation structure 1120 bysqueezing actuation structure 1120. Illustratively, the surgeon maycompress actuation structure 1120 by squeezing actuation structure 1120at any particular location of a plurality of locations around an outerperimeter of actuation structure 1120. For example, a surgeon may rotatehandle 1100 and compress actuation structure 1120 from any rotationalposition of a plurality of rotational positions of handle 1100.

In one or more embodiments, actuation structure 1120 may be compressedby an application of a compressive force to any one or more of theplurality of actuation arms 1125. Illustratively, each actuation arm1125 may be configured to actuate independently. In one or moreembodiments, each actuation arm 1125 may be connected to one or more ofthe plurality of actuation arms 1125 wherein an actuation of aparticular actuation arm 1125 may be configured to actuate everyactuation arm 1125 of the plurality of actuation arms 1125.Illustratively, one or more actuation arms 1125 may be configured toactuate in pairs or groups. For example, an actuation of a firstactuation arm 1125 may be configured to actuate a second actuation arm1125.

In one or more embodiments, a compression of actuation structure 1120,e.g., due to an application of a compressive force to a particularactuation arm 1125, may be configured to actuate the particularactuation arm 1125. Illustratively, an actuation of the particularactuation arm 1125 may be configured to actuate every actuation arm 1125of the plurality of actuation arms 1125. In one or more embodiments, anapplication of a compressive force to a particular actuation arm 1125may be configured to extend at least one extension mechanism 1126 of theparticular actuation arm 1125. Illustratively, a particular actuationarm 1125 may be configured to extend a first length from handle base1110. An extension of an extension mechanism 1126 of the particularactuation arm 1125, e.g., due to an application of a compressive forceto the particular actuation arm 1125, may be configured to extend theparticular actuation arm 1125 a second length from handle base 1110.Illustratively, the second length from handle base 1110 may be greaterthan the first length from handle base 1110.

In one or more embodiments, actuation ring 1130 may be fixed toactuation structure distal end 1121. Illustratively, a compression ofactuation structure 1120 may be configured to gradually extend actuationring 1130 from handle base 1110. For example, actuation ring 1130 may beconfigured to extend a first distance from actuation structure proximalend 1122, e.g., when actuation structure 1120 is fully decompressed.Actuation ring 1130 may be configured to extend a second distance fromactuation structure proximal end 1122, e.g., due to a compression ofactuation structure 1120. Illustratively, the second distance fromactuation structure proximal end 1122 may be greater than the firstdistance from actuation structure proximal end 1122.

FIG. 11B illustrates a cross-sectional view of handle 1100. In one ormore embodiments, handle 1100 may comprise an inner bore 1160, an innerbore proximal taper 1161, an inner bore distal chamber 1162, a draw wireproximal guide 1163, a draw wire proximal end housing 1164, a draw wiredistal guide 1165, and a pulley mechanism housing 1170. Handle 1100 maybe manufactured from any suitable material, e.g., polymers, metals,metal alloys, etc., or from any combination of suitable materials.

FIG. 12 is a schematic diagram illustrating an exploded view of asteerable laser probe assembly 1200. In one or more embodiments,steerable laser probe assembly 1200 may comprise a handle 1100; ahousing tube 700 having a housing tube distal end 701 and a housing tubeproximal end 702; an optic fiber 750 having an optic fiber distal end751 and an optic fiber proximal end 752; a pulley mechanism 1210; anactuation mechanism 1220; a draw wire 1240 having a draw wire distal end1241, a draw wire proximal end 1242, and a draw wire loop 1245; and alight source interface 370. Illustratively, light source interface 370may be configured to interface with optic fiber proximal end 752. In oneor more embodiments, light source interface 370 may comprise a standardlight source connecter, e.g., an SMA connector.

Illustratively, housing tube 700 may be fixed to housing tube platform1150, e.g., housing tube proximal end 702 may be fixed to handle distalend 1101. In one or more embodiments, housing tube 700 may comprise afirst housing tube portion 720 having a first stiffness and a secondhousing tube portion 730 having a second stiffness. Illustratively, thesecond stiffness may be greater than the first stiffness.

In one or more embodiments, pulley mechanism 1210 may be disposed withinpulley mechanism housing 1170. Illustratively, pulley mechanism 1210 maybe configured to change a direction of an applied force, e.g., a forceapplied to draw wire 1240. For example, pulley mechanism 1210 maycomprise any suitable mechanism configured to change a direction of anapplied force. Illustratively, pulley mechanism 1210 may be configuredto change a point of application of an applied force, e.g., by changinga direction of an applied force. For example, pulley mechanism 1210 maybe configured to change a direction and a point of application of anapplied force, e.g., a force applied to draw wire 1240. In one or moreembodiments, pulley mechanism 1210 may comprise a rod configured tochange a direction of an applied force, e.g., a force applied to drawwire 1240. For example, pulley mechanism 1210 may comprise a rodconfigured to change a point of application of an applied force, e.g., aforce applied to draw wire 1240. Illustratively, pulley mechanism 1210may comprise one or more channels configured to, e.g., interface with aportion of draw wire 1240. In one or more embodiments, a portion ofpulley mechanism 1210 may be coated with a lubricant, e.g., Teflon,configured to minimize a force of friction between pulley mechanism 1210and draw wire 1240. Illustratively, pulley mechanism 1210 may beconfigured to rotate, e.g., to change a direction of an applied force,or a portion of pulley mechanism 1210, e.g., a wheel, may be configuredto rotate, e.g., to change a direction of an applied force. For example,pulley mechanism 1210 or a portion of pulley mechanism 1210 may beconfigured to change a point of application of an applied force, e.g., aforce applied to draw wire 1240. In one or more embodiments, pulleymechanism 1210 may be configured to remain in static equilibrium, e.g.,not to rotate, to change a direction of an applied force, e.g., a forceapplied to draw wire 1240. For example, a change in a direction of anapplied force may be configured to change one or more points ofapplication of the applied force. Illustratively, a portion of pulleymechanism 1210 may be configured to house a portion of optic fiber 750.

In one or more embodiments, draw wire 1240 may be disposed within drawwire proximal end housing 1164, e.g., draw wire proximal end 1242 may bedisposed within draw wire proximal end housing 1164. Illustratively,actuation mechanism 1220 may be disposed within actuation mechanismhousing 1135. In one or more embodiments, actuation mechanism 1220 maybe configured to fix a portion of draw wire 1240 in a position relativeto actuation mechanism 1220, e.g., actuation mechanism 1220 may beconfigured to fix draw wire proximal end 1242 in a position relative toactuation mechanism 1220. Illustratively, actuation mechanism 1220 maycomprise a set screw configured to fix draw wire proximal end 1242 in aposition relative to actuation mechanism 1220, e.g., at draw wireproximal end housing 1164.

In one or more embodiments, draw wire 1240 may be disposed within drawwire proximal end housing 1164, inner bore distal chamber 1162, innerbore 1160, draw wire proximal guide 1163, draw wire distal guide 1165,and housing tube 700. Illustratively, pulley mechanism 1210 may bedisposed within draw wire loop 1245, e.g., draw wire 1240 may be loopedaround pulley mechanism 1210. In one or more embodiments, draw wire 1240may be disposed within housing tube 700 wherein draw wire distal end1241 may be adjacent to housing tube distal end 701. Illustratively,draw wire 1240 may be disposed within housing tube 700 wherein draw wire1240 may be adjacent to a first housing tube portion 720. In one or moreembodiments, a portion of draw wire 1240 may be fixed to an innerportion of housing tube 700, e.g., by a biocompatible adhesive or anyother suitable fixation means.

Illustratively, optic fiber 750 may be disposed within inner bore 1160,inner bore distal chamber 1162, draw wire proximal guide 1163, draw wiredistal guide 1165, and housing tube 700. In one or more embodiments,optic fiber 750 may be disposed within pulley mechanism housing 1170,e.g., optic fiber 750 may be disposed within pulley mechanism 1210.Illustratively, optic fiber 750 may be disposed within housing tube 700wherein optic fiber distal end 751 may be adjacent to housing tubedistal end 701. In one or more embodiments, optic fiber 750 may bedisposed within housing tube 700 wherein optic fiber 750 may be adjacentto a first housing tube portion 720. Illustratively, a portion of opticfiber 750 may be fixed to an inner portion of housing tube 700, e.g., bya biocompatible adhesive or any other suitable fixation means.

In one or more embodiments, a compression of actuation structure 1120may be configured to extend actuation ring 1130 relative to handle base1110. Illustratively, a compression of actuation structure 1120 may beconfigured to actuate actuation ring 1130 away from handle proximal end1102 and towards housing tube platform 1150. In one or more embodiments,a compression of actuation structure 1120 may be configured to extendactuation mechanism 1220 relative to handle base 1110. Illustratively, acompression of actuation structure 1120 may be configured to actuateactuation mechanism 1220, e.g., within actuation mechanism guide 1145,away from handle proximal end 1102 and towards housing tube platform1150.

In one or more embodiments, an extension of actuation mechanism 1220relative to handle base 1110, e.g., due to a compression of actuationstructure 1120, may be configured to apply an extension force to drawwire 1240. For example, an extension of actuation mechanism 1220relative to handle base 1110 may be configured to pull draw wireproximal end 1242 away from handle proximal end 1102 and towards housingtube platform 1150. Illustratively, an extension of actuation mechanism1220 relative to handle base 1110 may be configured to extend draw wireproximal end 1242 relative to handle base 1110. For example, anextension of actuation mechanism 1220 relative to handle base 1110 maybe configured to extend draw wire proximal end 1242 away from handleproximal end 1102 and towards housing tube platform 1150.

In one or more embodiments, pulley mechanism 1210 may be configured tochange a direction of an extension force applied to draw wire 1240.Illustratively, pulley mechanism 1210 may be configured to change adirection of an extension force applied to draw wire 1240. For example,pulley mechanism 1210 may be configured to change a direction of a forceapplied to draw wire 1240 from an extension direction to a retractiondirection. In one or more embodiments, pulley mechanism 1210 may beconfigured to change a point of application of a force applied to drawwire 1240. For example, pulley mechanism 1210 may be configured tochange a point of application of a force applied to draw wire 1240 fromdraw wire proximal end 1242 to draw wire distal end 1241.Illustratively, pulley mechanism 1210 may be configured to change alocation of a point of application of a force applied to draw wire 1240from a location wherein a first portion of draw wire 1240 may be fixedin a position relative actuation mechanism 1220 to a location wherein asecond portion of draw wire 1240 may be fixed to an inner portion ofhousing tube 700.

In one or more embodiments, a compression of actuation structure 1120may be configured to apply a compressive force to an inner portion ofhousing tube 700. For example, a compression of actuation structure 1120may be configured apply an extension force to draw wire proximal end1242 and pulley mechanism 1210 may be configured to change the extensionforce applied to draw wire proximal end 1242 to a compressive forceapplied to an inner portion of housing tube 700. Illustratively, anapplication of a compressive force to an inner portion of housing tube700, e.g., due to a compression of actuation structure 1120, may beconfigured to gradually compress a first housing tube portion 720 ofhousing tube 700. In one or more embodiments, a gradual compression offirst housing tube portion 720 of housing tube 700 may be configured tocause housing tube 700 to gradually curve. Illustratively, a gradualcurving of housing tube 700 may be configured to gradually curve opticfiber 750.

In one or more embodiments, a decompression of actuation structure 1120may be configured to retract actuation ring 1130 relative to handle base1110. Illustratively, a decompression of actuation structure 1120 may beconfigured to actuate actuation ring 1130 towards handle proximal end1102 and away from housing tube platform 1150. In one or moreembodiments, a decompression of actuation structure 1120 may beconfigured to retract actuation mechanism 1220 relative to handle base1110. Illustratively, a decompression of actuation structure 1120 may beconfigured to actuate actuation mechanism 1220, e.g., within actuationmechanism guide 1145, towards handle proximal end 1102 and away fromhousing tube platform 1150.

In one or more embodiments, a retraction of actuation mechanism 1220relative to handle base 1110, e.g., due to a decompression of actuationstructure 1120, may be configured to reduce an extension force appliedto draw wire 1240. Illustratively, a retraction of actuation mechanism1220 relative to handle base 1110 may be configured to retract draw wireproximal end 1242 relative to handle base 1110. For example, aretraction of actuation mechanism 1220 relative to handle base 1110 maybe configured to retract draw wire proximal end 1242 towards handleproximal end 1102 and away from housing tube platform 1150.

In one or more embodiments, a decompression of actuation structure 1120may be configured to reduce a compressive force applied to an innerportion of housing tube 700. For example, a decompression of actuationstructure 1120 may be configured to reduce an extension force applied todraw wire proximal end 1242 and pulley mechanism 1210 may be configuredto change a reduction of the extension force applied to draw wireproximal end 1242 to a reduction of a compressive force applied to aninner portion of housing tube 700. Illustratively, a reduction of acompressive force applied to an inner portion of housing tube 700, e.g.,due to a decompression of actuation structure 1120, may be configured togradually decompress a first housing tube portion 720 of housing tube700. In one or more embodiments, a gradual decompression of firsthousing tube portion 720 of housing tube 700 may be configured to causehousing tube 700 to gradually straighten. Illustratively, a gradualstraightening of housing tube 700 may be configured to graduallystraighten optic fiber 750.

FIGS. 13A, 13B, 13C, 13D, and 13E illustrate a gradual curving of anoptic fiber 750. FIG. 13A illustrates a straight optic fiber 1300. Inone or more embodiments, optic fiber 750 may comprise a straight opticfiber 1300, e.g., when actuation ring 1130 is fully is refractedrelative to handle base 1110. Illustratively, optic fiber 750 maycomprise a straight optic fiber 1300, e.g., when actuation structure1120 is fully decompressed. In one or more embodiments, optic fiber 750may comprise a straight optic fiber 1300, e.g., when actuation mechanism1220 is fully retracted relative to handle base 1110. Illustratively, aline tangent to optic fiber distal end 751 may be parallel to a linetangent to housing tube proximal end 702, e.g., when optic fiber 750comprises a straight optic fiber 1300.

FIG. 13B illustrates an optic fiber in a first curved position 1310. Inone or more embodiments, a compression of a fully decompressed actuationstructure 1120 may be configured to gradually curve optic fiber 750 froma straight optic fiber 1300 to an optic fiber in a first curved position1310. Illustratively, a compression of actuation structure 1120 may beconfigured to gradually extend actuation mechanism 1220 relative tohandle base 1110. In one or more embodiments, a gradual extension ofactuation mechanism 1220 relative to handle base 1110 may be configuredto cause draw wire 1240 to apply a compressive force to an inner portionof housing tube 700. Illustratively, an application of a compressiveforce to an inner portion of housing tube 700 may be configured tocompress a first housing tube portion 720 of housing tube 700. In one ormore embodiments, an application of a compressive force to a firsthousing tube portion 720 of housing tube 700 may be configured togradually curve housing tube 700. Illustratively, a gradual curving ofhousing tube 700 may be configured to gradually curve optic fiber 750from a straight optic fiber 1300 to an optic fiber in a first curvedposition 1310. In one or more embodiments, a line tangent to optic fiberdistal end 751 may intersect a line tangent to housing tube proximal end702 at a first angle, e.g., when optic fiber 750 comprises an opticfiber in a first curved position 1310. Illustratively, the first anglemay comprise any angle greater than zero degrees. For example, the firstangle may comprise a 45 degree angle.

FIG. 13C illustrates an optic fiber in a second curved position 1320. Inone or more embodiments, a compression of actuation structure 1120 maybe configured to gradually curve optic fiber 750 from an optic fiber ina first curved position 1310 to an optic fiber in a second curvedposition 1320. Illustratively, a compression of actuation structure 1120may be configured to gradually extend actuation mechanism 1220 relativeto handle base 1110. In one or more embodiments, a gradual extension ofactuation mechanism 1220 relative to handle base 1110 may be configuredto cause draw wire 1240 to apply a compressive force to an inner portionof housing tube 700. Illustratively, an application of a compressiveforce to an inner portion of housing tube 700 may be configured tocompress a first housing tube portion 720 of housing tube 700. In one ormore embodiments, an application of a compressive force to an innerportion of housing tube 700 may be configured to gradually curve housingtube 700. Illustratively, a gradual curving of housing tube 700 may beconfigured to gradually curve optic fiber 750 from an optic fiber in afirst curved position 1310 to an optic fiber in a second curved position1320. In one or more embodiments, a line tangent to optic fiber distalend 751 may intersect a line tangent to housing tube proximal end 702 ata second angle, e.g., when optic fiber 750 comprises an optic fiber in asecond curved position 1320. Illustratively, the second angle maycomprise any angle greater than the first angle. For example, the secondangle may comprise a 90 degree angle.

FIG. 13D illustrates an optic fiber in a third curved position 1330. Inone or more embodiments, a compression of actuation structure 1120 maybe configured to gradually curve optic fiber 750 from an optic fiber ina second curved position 1320 to an optic fiber in a third curvedposition 1330. Illustratively, a compression of actuation structure 1120may be configured to gradually extend actuation mechanism 1220 relativeto handle base 1110. In one or more embodiments, a gradual extension ofactuation mechanism 1220 relative to handle base 1110 may be configuredto cause draw wire 1240 to apply a compressive force to an inner portionof housing tube 700. Illustratively, an application of a compressiveforce to an inner portion of housing tube 700 may be configured tocompress a first housing tube portion 720 of housing tube 700. In one ormore embodiments, an application of a compressive force to an innerportion of housing tube 700 may be configured to gradually curve housingtube 700. Illustratively, a gradual curving of housing tube 700 may beconfigured to gradually curve optic fiber 750 from an optic fiber in asecond curved position 1320 to an optic fiber in a third curved position1330. In one or more embodiments, a line tangent to optic fiber distalend 751 may intersect a line tangent to housing tube proximal end 702 ata third angle, e.g., when optic fiber 750 comprises an optic fiber in athird curved position 1330. Illustratively, the third angle may compriseany angle greater than the second angle. For example, the third anglemay comprise a 135 degree angle.

FIG. 13E illustrates an optic fiber in a fourth curved position 1340. Inone or more embodiments, a compression of actuation structure 1120 maybe configured to gradually curve optic fiber 750 from an optic fiber ina third curved position 1330 to an optic fiber in a fourth curvedposition 1340. Illustratively, a compression of actuation structure 1120may be configured to gradually extend actuation mechanism 1220 relativeto handle base 1110. In one or more embodiments, a gradual extension ofactuation mechanism 1220 relative to handle base 1110 may be configuredto cause draw wire 1240 to apply a compressive force to an inner portionof housing tube 700. Illustratively, an application of a compressiveforce to an inner portion of housing tube 700 may be configured tocompress a first housing tube portion 720 of housing tube 700. In one ormore embodiments, an application of a compressive force to an innerportion of housing tube 700 may be configured to gradually curve housingtube 700. Illustratively, a gradual curving of housing tube 700 may beconfigured to gradually curve optic fiber 750 from an optic fiber in athird curved position 1330 to an optic fiber in a forth curved position1340. In one or more embodiments, a line tangent to optic fiber distalend 751 may be parallel to a line tangent to housing tube proximal end702, e.g., when optic fiber 750 comprises an optic fiber in a fourthcurved position 1340.

In one or more embodiments, one or more properties of a steerable laserprobe may be adjusted to attain one or more desired steerable laserprobe features. For example, a length that housing tube 700 extends fromhandle distal end 1101 may be adjusted to vary an amount of compressionof actuation structure 1120 configured to curve housing tube 700 to aparticular curved position. In one or more embodiments, a portion ofdraw wire 1240 may be fixed to an outer portion of housing tube 700wherein a compression of actuation structure 1120 may be configured tocause draw wire 1240 to compress a first housing tube portion 720 ofhousing tube 700. Illustratively, a position of pulley mechanism 1210 ora length of draw wire 1240 may be adjusted to vary an amount ofcompression of actuation structure 1120 configured to curve housing tube700 to a particular curved position. In one or more embodiments, astiffness of first housing tube portion 720 or a stiffness of secondhousing tube portion 730 may be adjusted to vary an amount ofcompression of actuation structure 1120 configured to curve housing tube700 to a particular curved position. Illustratively, a materialcomprising first housing tube portion 720 or a material comprisingsecond housing tube portion 730 may be adjusted to vary an amount ofcompression of actuation structure 1120 configured to curve housing tube700 to a particular curved position.

In one or more embodiments, a number of apertures in housing tube 700may be adjusted to vary an amount of compression of actuation structure1120 configured to curve housing tube 700 to a particular curvedposition. Illustratively, a location of one or more apertures in housingtube 700 may be adjusted to vary an amount of compression of actuationstructure 1120 configured to curve housing tube 700 to a particularcurved position. In one or more embodiments, a geometry of one or moreapertures in housing tube 700 may be adjusted to vary an amount ofcompression of action structure 1120 configured to curve housing tube700 to a particular curved position. Illustratively, a geometry of oneor more apertures in housing tube 700 may be uniform, e.g., eachaperture of the one or more apertures may have a same geometry. In oneor more embodiments, a geometry of one or more apertures in housing tube700 may be non-uniform, e.g., a first aperture in housing tube 700 mayhave a first geometry and a second aperture in housing tube 700 may havea second geometry.

In one or more embodiments, a geometry of actuation structure 1120 maybe adjusted to vary an amount of compression of actuation structure 1120configured to curve housing tube 700 to a particular curved position.Illustratively, one or more locations within housing tube 700 whereindraw wire 1240 may be fixed to an inner portion of housing tube 700 maybe adjusted to vary an amount of compression of actuation structure 1120configured to curve housing tube 700 to a particular curved position. Inone or more embodiments, at least a portion of optic fiber 750 may beenclosed in an optic fiber sleeve configured to, e.g., protect opticfiber 750, vary a stiffness of optic fiber 750, vary an optical propertyof optic fiber 750, etc.

FIGS. 14A, 14B, 14C, 14D, and 14E illustrate a gradual straightening ofan optic fiber 750. FIG. 14A illustrates a fully curved optic fiber1400. In one or more embodiments, optic fiber 750 may comprise a fullycurved optic fiber 1400, e.g., when actuation ring 1130 is fullyextended relative to handle base 1110. Illustratively, optic fiber 750may comprise a fully curved optic fiber 1400, e.g., when actuationstructure 1120 is fully compressed. In one or more embodiments, opticfiber 750 may comprise a fully curved optic fiber 1400, e.g., whenactuation mechanism 1220 is fully extended relative to handle base 1110.Illustratively, draw wire 1240 may be configured to fully compress afirst housing tube portion 720 of housing tube 700, e.g., when opticfiber 750 comprises a fully curved optic fiber 1400. Illustratively, aline tangent to optic fiber distal end 751 may be parallel to a linetangent to housing tube proximal end 702, e.g., when optic fiber 750comprises a fully curved optic fiber 1400.

FIG. 14B illustrates an optic fiber in a first partially straightenedposition 1410. In one or more embodiments, a decompression of a fullycompressed actuation structure 1120 may be configured to graduallystraighten optic fiber 750 from a fully curved optic fiber 1400 to anoptic fiber in a first partially straightened position 1410.Illustratively, a decompression of actuation structure 1120 may beconfigured to gradually retract actuation mechanism 1220 relative tohandle base 1110. In one or more embodiments, a gradual retraction ofactuation mechanism 1220 relative to handle base 1110 may be configuredto cause draw wire 1240 to reduce a compressive force applied to aninner portion of housing tube 700. Illustratively, a reduction of acompressive force applied to an inner portion of housing tube 700 may beconfigured to decompress a first housing tube portion 720 of housingtube 700. In one or more embodiments, a reduction of a compressive forceapplied to an inner portion of housing tube 700 may be configured togradually straighten housing tube 700. Illustratively, a gradualstraightening of housing tube 700 may be configured to graduallystraighten optic fiber 750 from a fully curved optic fiber 1400 to anoptic fiber in a first partially straightened position 1410. In one ormore embodiments, a line tangent to optic fiber distal end 751 mayintersect a line tangent to housing tube proximal end 702 at a firstpartially straightened angle, e.g., when optic fiber 750 comprises anoptic fiber in a first partially straightened position 1410.Illustratively, the first partially straightened angle may comprise anyangle less than 180 degrees. For example, the first partiallystraightened angle may comprise a 135 degree angle.

FIG. 14C illustrates an optic fiber in a second partially straightenedposition 1420. In one or more embodiments, a decompression of actuationstructure 1120 may be configured to gradually straighten optic fiber 750from an optic fiber in a first partially straightened position 1410 toan optic fiber in a second partially straightened position 1420.Illustratively, a decompression of actuation structure 1120 may beconfigured to gradually retract actuation mechanism 1220 relative tohandle base 1110. In one or more embodiments, a gradual retraction ofactuation mechanism 1220 relative to handle base 1110 may be configuredto cause draw wire 1240 to reduce a compressive force applied to aninner portion of housing tube 700. Illustratively, a reduction of acompressive force applied to an inner portion of housing tube 700 may beconfigured to decompress a first housing tube portion 720 of housingtube 700. In one or more embodiments, a reduction of a compressive forceapplied to an inner portion of housing tube 700 may be configured togradually straighten housing tube 700. Illustratively, a gradualstraightening of housing tube 700 may be configured to graduallystraighten optic fiber 750 from an optic fiber in a first partiallystraightened position 1410 to an optic fiber in a second partiallystraightened position 1420. In one or more embodiments, a line tangentto optic fiber distal end 751 may intersect a line tangent to housingtube proximal end 702 at a second partially straightened angle, e.g.,when optic fiber 750 comprises an optic fiber in a second partiallystraightened position 1420. Illustratively, the second partiallystraightened angle may comprise any angle less than the first partiallystraightened angle. For example, the second partially straightened anglemay comprise a 90 degree angle.

FIG. 14D illustrates an optic fiber in a third partially straightenedposition 1430. In one or more embodiments, a decompression of actuationstructure 1120 may be configured to gradually straighten optic fiber 750from an optic fiber in a second partially straightened position 1420 toan optic fiber in a third partially straightened position 1430.Illustratively, a decompression of actuation structure 1120 may beconfigured to gradually retract actuation mechanism 1220 relative tohandle base 1110. In one or more embodiments, a gradual retraction ofactuation mechanism 1220 relative to handle base 1110 may be configuredto cause draw wire 1240 to reduce a compressive force applied to aninner portion of housing tube 700. Illustratively, a reduction of acompressive force applied to an inner portion of housing tube 700 may beconfigured to decompress a first housing tube portion 720 of housingtube 700. In one or more embodiments, a reduction of a compressive forceapplied to an inner portion of housing tube 700 may be configured togradually straighten housing tube 700. Illustratively, a gradualstraightening of housing tube 700 may be configured to graduallystraighten optic fiber 750 from an optic fiber in a second partiallystraightened position 1420 to an optic fiber in a third partiallystraightened position 1430. In one or more embodiments, a line tangentto optic fiber distal end 751 may intersect a line tangent to housingtube proximal end 702 at a third partially straightened angle, e.g.,when optic fiber 750 comprises an optic fiber in a third partiallystraightened position 1430. Illustratively, the third partiallystraightened angle may comprise any angle less than the second partiallystraightened angle. For example, the third partially straightened anglemay comprise a 45 degree angle.

FIG. 14E illustrates an optic fiber in a fully straightened position1440. In one or more embodiments, a decompression of actuation structure1120 may be configured to gradually straighten optic fiber 750 from anoptic fiber in a third partially straightened position 1430 to an opticfiber in a fully straightened position 1440. Illustratively, adecompression of actuation structure 1120 may be configured to graduallyretract actuation mechanism 1220 relative to handle base 1110. In one ormore embodiments, a gradual refraction of actuation mechanism 1220relative to handle base 1110 may be configured to cause draw wire 1240to reduce a compressive force applied to an inner portion of housingtube 700. Illustratively, a reduction of a compressive force applied toan inner portion of housing tube 700 may be configured to decompress afirst housing tube portion 720 of housing tube 700. Illustratively, areduction of a compressive force applied to an inner portion of housingtube 700 may be configured to gradually straighten housing tube 700. Inone or more embodiments, a gradual straightening of housing tube 700 maybe configured to gradually straighten optic fiber 750 from an opticfiber in a third partially straightened position 1430 to an optic fiberin a fully straightened position 1440. Illustratively, a line tangent tooptic fiber distal end 751 may be parallel to a line tangent to housingtube proximal end 702, e.g., when optic fiber 750 comprises an opticfiber in a fully straightened position 1440.

Illustratively, a surgeon may aim optic fiber distal end 751 at any of aplurality of targets within an eye, e.g., to perform a photocoagulationprocedure. In one or more embodiments, a surgeon may aim optic fiberdistal end 751 at any target within a particular transverse plane of theinner eye by, e.g., rotating handle 1100 to orient housing tube 700 inan orientation configured to cause a curvature of housing tube 700within the particular transverse plane of the inner eye and varying anamount of compression of actuation structure 1120. Illustratively, asurgeon may aim optic fiber distal end 751 at any target within aparticular sagittal plane of the inner eye by, e.g., rotating handle1100 to orient housing tube 700 in an orientation configured to cause acurvature of housing tube 700 within the particular sagittal plane ofthe inner eye and varying an amount of compression of actuationstructure 1120. In one or more embodiments, a surgeon may aim opticfiber distal end 751 at any target within a particular frontal plane ofthe inner eye by, e.g., varying an amount of compression of actuationstructure 1120 to orient a line tangent to optic fiber distal end 751wherein the line tangent to optic fiber distal end 751 is within theparticular frontal plane of the inner eye and rotating handle 1100.Illustratively, a surgeon may aim optic fiber distal end 751 at anytarget located outside of the particular transverse plane, theparticular sagittal plane, and the particular frontal plane of the innereye, e.g., by varying a rotational orientation of handle 1100 andvarying an amount of compression of actuation structure 1120. In one ormore embodiments, a surgeon may aim optic fiber distal end 751 at anytarget of a plurality of targets within an eye, e.g., without increasinga length of a portion of a steerable laser probe within the eye.Illustratively, a surgeon may aim optic fiber distal end 751 at anytarget of a plurality of targets within an eye, e.g., without decreasinga length of a portion of a steerable laser probe within the eye.

The foregoing description has been directed to particular embodiments ofthis invention. It will be apparent; however, that other variations andmodifications may be made to the described embodiments, with theattainment of some or all of their advantages. Specifically, it shouldbe noted that the principles of the present invention may be implementedin any probe system. Furthermore, while this description has beenwritten in terms of a steerable laser probe, the teachings of thepresent invention are equally suitable to systems where thefunctionality of actuation may be employed. Therefore, it is the objectof the appended claims to cover all such variations and modifications ascome within the true spirit and scope of the invention.

What is claimed is:
 1. An instrument comprising: a handle having ahandle distal end and a handle proximal end; a single housing tubehaving a housing tube distal end and a housing tube proximal end; afirst housing tube portion of the housing tube, the first housing tubeportion having a first stiffness; a second housing tube portion of thehousing tube, the second housing tube portion having a second stiffnesswherein the second stiffness is greater than the first stiffness; anactuation structure of the handle having an actuation structure distalend and an actuation structure proximal end wherein the actuationstructure distal end is disposed between the handle distal end and thehandle proximal end and wherein the actuation structure proximal end isdisposed between the handle distal end and the handle proximal end; aplurality of actuation arms of the actuation structure, each actuationarm of the plurality of actuation arms having at least one extensionmechanism; an actuation ring having an actuation ring distal end and anactuation ring proximal end wherein the actuation ring proximal end isfixed to the actuation structure distal end and wherein the actuationring distal end is the handle distal end; an optic fiber having an opticfiber distal end and an optic fiber proximal end, the optic fiberdisposed in the housing tube and the handle wherein the optic fiberdistal end is adjacent to the housing tube distal end, a first portionof the optic fiber is adjacent to the first housing tube portion, and asecond portion of the optic fiber is fixed to an inner portion of thehousing tube; and a wire having a wire distal end and a wire proximalend, the wire disposed in the housing tube and the handle wherein thewire proximal end is fixed in a position relative to the handle andwherein the wire distal end is adjacent to the housing tube distal end,a first portion of the wire is adjacent to the first housing tubeportion, and a second portion of the wire is fixed to the inner portionof the housing tube.
 2. The instrument of claim 1 wherein a compressionof the actuation structure is configured to curve the optic fiber. 3.The instrument of claim 2 wherein the compression of the actuationstructure is configured to curve the optic fiber at least 45 degrees. 4.The instrument of claim 2 wherein the compression of the actuationstructure is configured to aim the optic fiber distal end at a targetwithin an eye to perform a photocoagulation procedure.
 5. The instrumentof claim 4 wherein the compression of the actuation structure isconfigured to curve the optic fiber without increasing a length of theinstrument within the eye.
 6. The instrument of claim 4 wherein thecompression of the actuation structure is configured to curve the opticfiber without decreasing a length of the instrument within the eye. 7.The instrument of claim 1 further comprising: a plurality of slits cutinto the first housing tube portion, the plurality of slits configuredto minimize a force of friction between the housing tube and a cannulaas the housing tube is inserted into the cannula.
 8. The instrument ofclaim 1 further comprising: a plurality of slits cut into the firsthousing tube portion, the plurality of slits configured to minimize aforce of friction between the housing tube and a cannula as the housingtube is extracted from the cannula.
 9. An instrument comprising: ahandle having a handle distal end and a handle proximal end; a singlehousing tube having a housing tube distal end and a housing tubeproximal end; a first housing tube portion of the housing tube, thefirst housing tube portion having a first stiffness; a plurality ofslits cut into the first housing tube portion, the plurality of slitsconfigured to minimize a force of friction between the housing tube anda cannula as the housing tube is extracted from the cannula; a secondhousing tube portion of the housing tube, the second housing tubeportion having a second stiffness wherein the second stiffness isgreater than the first stiffness; an actuation structure of the handlehaving an actuation structure distal end and an actuation structureproximal end wherein the actuation structure distal end is disposedbetween the handle distal end and the handle proximal end and whereinthe actuation structure proximal end is disposed between the handledistal end and the handle proximal end; a plurality of actuation arms ofthe actuation structure, each actuation arm of the plurality ofactuation arms having at least one extension mechanism; an optic fiberhaving an optic fiber distal end and an optic fiber proximal end, theoptic fiber disposed in the housing tube and the handle wherein theoptic fiber distal end is adjacent to the housing tube distal end, afirst portion of the optic fiber is adjacent to the first housing tubeportion, and a second portion of the optic fiber is fixed to an innerportion of the housing tube; and a wire having a wire distal end and awire proximal end, the wire disposed in the housing tube and the handlewherein the wire proximal end is fixed in a position relative to thehandle and wherein the wire distal end is adjacent to the housing tubedistal end, a first portion of the wire is adjacent to the first housingtube portion, and a second portion of the wire is fixed to the innerportion of the housing tube.
 10. The instrument of claim 9 wherein acompression of the actuation structure is configured to curve the opticfiber.
 11. The instrument of claim 10 wherein the compression of theactuation structure is configured to curve the optic fiber at least 45degrees.
 12. The instrument of claim 11 wherein the compression of theactuation structure is configured to curve the optic fiber at least 90degrees.
 13. The instrument of claim 12 wherein the compression of theactuation structure is configured to curve the optic fiber at least 135degrees.
 14. The instrument of claim 9 further comprising: an actuationring having an actuation ring distal end and an actuation ring proximalend wherein the actuation ring proximal end is fixed to the actuationstructure distal end and wherein the actuation ring distal end is thehandle distal end.
 15. An instrument comprising: a handle having ahandle distal end and a handle proximal end; a single housing tubehaving a housing tube distal end and a housing tube proximal end; afirst housing tube portion of the housing tube, the first housing tubeportion having a first stiffness; a plurality of slits cut into thefirst housing tube portion, the plurality of slits configured tominimize a force of friction between the housing tube and a cannula asthe housing tube is extracted from the cannula; a second housing tubeportion of the housing tube, the second housing tube portion having asecond stiffness wherein the second stiffness is greater than the firststiffness; an actuation structure of the handle having an actuationstructure distal end and an actuation structure proximal end wherein theactuation structure distal end is disposed between the handle distal endand the handle proximal end and wherein the actuation structure proximalend is disposed between the handle distal end and the handle proximalend; a plurality of actuation arms of the actuation structure, eachactuation arm of the plurality of actuation arms having at least oneextension mechanism; an actuation ring having an actuation ring distalend and an actuation ring proximal end wherein the actuation ringproximal end is fixed to the actuation structure distal end and whereinthe actuation ring distal end is the handle distal end; and an opticfiber having an optic fiber distal end and an optic fiber proximal end,the optic fiber disposed in the housing tube and the handle wherein theoptic fiber distal end is adjacent to the housing tube distal end, afirst portion of the optic fiber is adjacent to the first housing tubeportion, and a second portion of the optic fiber is fixed to an innerportion of the housing tube.
 16. The instrument of claim 15 wherein acompression of the actuation structure is configured to curve the opticfiber.
 17. The instrument of claim 16 wherein the compression of theactuation structure is configured to curve the optic fiber at least 45degrees.
 18. The instrument of claim 15 further comprising: at least onearch of at least one slit of the plurality of slits.
 19. The instrumentof claim 15 further comprising: a piston tube having a piston tubedistal end and a piston tube proximal end, the piston tube at leastpartially disposed in the actuation structure.
 20. The instrument ofclaim 15 further comprising: a wire having a wire distal end and a wireproximal end, the wire disposed in the housing tube and the handlewherein the wire proximal end is fixed in a position relative to thehandle and wherein the wire distal end is adjacent to the housing tubedistal end, a first portion of the wire is adjacent to the first housingtube portion, and a second portion of the wire is fixed to the innerportion of the housing tube.